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Options to support splitting a rosbag file in duration and size chunks #9

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Options to support splitting a rosbag file in duration and size chunks #9

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10 changes: 7 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ ROS nodes that start/stop rosbag-record by a remote trigger
<include file="console.machine"/>

... other console nodes ...

<node name="console-record" pkg="remote_rosbag_record" type="record" respawn="true">
<rosparam file="console_topics.yml"/>
<param name="prefix" value="console"/>
Expand All @@ -29,7 +29,7 @@ ROS nodes that start/stop rosbag-record by a remote trigger
<param name="apped_date" value="true"/>
</node>
</group>

</launch>
```

Expand Down Expand Up @@ -94,6 +94,10 @@ See http://wiki.ros.org/rosbag/Commandline#record
* ~buffer_size (int)
* ~exclude_regex (string)
* ~node (string)
* ~split_duration (double)
* duration in seconds to record before splitting to a new bagfile
* ~split_size (int)
* size in MB to record before splitting to a new bagfile

### trigger
calls multiple start/stop services at once
Expand All @@ -120,4 +124,4 @@ subscribes joystick messages and calls start/stop services when a specified butt
* ~stop_regex (string, default: "<node's namespace>/stop")
* regular expression which matches stop services
* ~verbose (bool, default: true)
* verbose console output when calling services
* verbose console output when calling services
20 changes: 18 additions & 2 deletions src/record.cpp
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Expand Up @@ -74,6 +74,22 @@ bool start(std_srvs::Empty::Request &, std_srvs::Empty::Response &) {
}
}
rp::get("~node", options.node);
// Support automatic splitting of rosbag file in duration chunks
double duration = -1.0;
rp::get("~split_duration", duration);
if (duration > 0.0) {
options.split = true;
options.repeat_latched = true;
options.max_duration = ros::Duration(duration);
}
// Support automatic splitting of rosbag file in size chunks
int bagsize = 0;
rp::get("~split_size", bagsize);
if (bagsize > 0) {
options.split = true;
options.repeat_latched = true;
options.max_size = bagsize * 1048576;
}
// note: this node aims to enable service-triggered logging.
// so does not support the following options that may autonomously stop logging
// trigger / snapshot / chunk_size / limit / split
Expand Down Expand Up @@ -146,9 +162,9 @@ int main(int argc, char *argv[]) {
// manually free the recorder here.
// the recorder contains a plugin loaded by class_loader so must be freed
// before static variables in class_loader library (or get an exception).
// these static variables will be destroyed before the gloval variable recorder
// these static variables will be destroyed before the gloval variable recorder
// because they are allocated when the recorder is allocated in start().
recorder.reset();

return 0;
}
}