Merge pull request #250 from ironmig/script

SCRIPTS: switch bag variable to image_rect_color, add fps alias

scripts/bagging_variables.sh

@@ -1,9 +1,9 @@
 #!/bin/bash
 
-# This script will be sourced by the bmux command and the variables will be
-# used by the bag command. It is imperative that each variable is in the bag_*
-# namespace and contains a space diliniated list of ROS topics. The only two
-# exceptions to this rule are the BAG_ALWAYS and BAG_DIR variables.
+# This script will be sourced by the bag command as a configuration file. It is
+# imperative that each variable is in the bag_* namespace and contains a space
+# deliniated list of ROS topics. The only two exceptions to this rule are the
+# BAG_ALWAYS and BAG_DIR variables.
 
 
 # Define topics that should be in every bag
@@ -13,11 +13,15 @@ export BAG_ALWAYS="/odom /absodom /clock /tf /tf_static"
 export BAG_DIR=~/bags
 
 
+# Define the type of image to use for camera topics
+export CAM_SUFFIX="image_rect_color"
+
+
 # Topic variables that can be used from the bag command
-export bag_front_left_cam="/camera/front/left/camera_info /camera/front/left/image_raw"
-export bag_front_right_cam="/camera/front/right/camera_info /camera/front/right/image_raw"
+export bag_front_left_cam="/camera/front/left/camera_info /camera/front/left/$CAM_SUFFIX"
+export bag_front_right_cam="/camera/front/right/camera_info /camera/front/right/$CAM_SUFFIX"
 export bag_front_cams="$bag_front_left_cam $bag_front_right_cam"
-export bag_down_cam="/camera/down/left/camera_info /camera/down/left/image_raw"
+export bag_down_cam="/camera/down/left/camera_info /camera/down/left/$CAM_SUFFIX"
 export bag_blueview_ranges="/blueview_driver/ranges"
 export bag_blueview_color="/blueview_driver/image_color"
 export bag_blueview_mono="/blueview_driver/image_mono"

scripts/bash_aliases.sh

@@ -17,3 +17,6 @@ alias sshsub="ssh sub8@${HOSTNAMES[0]} -Y"
 # Missions
 alias subm="rosrun sub8_missions run_mission"
 alias subc="rosrun sub8_missions move_command"
+
+# Cameras
+alias subfps="rostopic hz $bag_front_cams $bag_down_cam"