rosbag2 composable recorder

A composable recorder node for ROS2 to allow recording rosbags without inter process communication.

Supported platforms

Currently only tested under Ubuntu 20.04. Will require ROS2 Galactic or later.

How to build

Create a workspace (e.g. ros2_ws), clone this repo, and build:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b galactic https://github.com/ros2/rosbag2.git
git clone https://github.com/berndpfrommer/rosbag2_composable_recorder
cd ..
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
. install/setup.bash

How to run

This recorder node is meant to be used as a composable node together with other nodes that produce a large number of messages. The launch file recorder.launch.py can serve as a template. Make a copy, edit it to your liking, then launch it.

ros2 launch rosbag2_composable_recorder recorder.launch.py

Setting the parameter start_recording_immediately will cause the recording to start immediately. To start the recording later:

ros2 service call /start_recording std_srvs/srv/Trigger

Alternatively, use the python script:

ros2 run rosbag2_composable_recorder start_recording.py

To stop the recording you have to kill (Ctrl-C) the recording driver.

Parameters

• bag_name: (default: empty) prefix of directory name used for bag.
• bag_prefix: (default: rosbag_2) prefix of directory name used for storage. A timestamp will be appended. This parameter is only used when no bag_name is specified.
• topics: (default: empty) array of strings that specifies the topics to record.
• record_all: (default: False) when this is set, all topics are recorded.
• disable_discovery: (default: False) disable discovery of topics that occured after recording was launched.
• storage_id: (default: sqlite3) storage container format.
• serialization_format: (default: cdr) serialization format.
• max_cache_size: (default: 100MB) size (in bytes) of cache before writing to disk. See ros2 bag record --help for more.
• start_recording_immediately: (default: False) do not wait for service call before recording is started.

License

This software is issued under the Apache License Version 2.0.