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feat(autoware_launch): add autoware_bag_recorder config file #547

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Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
/**:
ros__parameters:
common:
database_storage: "mcap" # sqlite3 or mcap
maximum_record_time: 36000 # seconds
maximum_allowed_bag_storage_size: 500.0 # GB
maximum_bag_file_size: 20.0 # GB
enable_only_auto_mode_recording: false # if enabled, recording occurs only "AUTO" mode
record_all_topic_in_a_bag: true # creates single bag file with input and other topics
number_of_maximum_bags: 1000 # limit of stored bag file count
path: "bags/" # Path to bag file for saving
prefix: "logging_ros2bag_"
minimum_acceptable_disk_space: 50 # GB
disk_space_threshold_action: "shutdown" # [remove, shutdown] remove files or shutdown node
raw_input_topics: # for rosbag-replay (logging) simulation
record_raw_input: true
raw_input_topics:
- /sensing/gnss/ublox/fix_velocity
- /sensing/gnss/ublox/nav_sat_fix
- /sensing/imu/tamagawa/imu_raw
- /sensing/lidar/left/velodyne_packets
- /sensing/lidar/right/velodyne_packets
- /sensing/lidar/top/velodyne_packets
- /vehicle/status/control_mode
- /vehicle/status/gear_status
- /vehicle/status/steering_status
- /vehicle/status/velocity_status
other_topics: # all other topics
record_other: false
other_topics:
- /perception/obstacle_segmentation/pointcloud
- /perception/object_recognition/objects
- /planning/scenario_planning/trajectory
- /planning/scenario_planning/lane_driving/behavior_planning/path
4 changes: 4 additions & 0 deletions autoware_launch/launch/autoware.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
<arg name="rviz_respawn" default="true"/>
<arg name="bag_recorder" default="false" description="launch autoware_bag_recorder"/>
<!-- Perception -->
<arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
<arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
Expand Down Expand Up @@ -122,5 +123,8 @@
if="$(var rviz)"
respawn="$(var rviz_respawn)"
/>
<include if="$(var bag_recorder)" file="$(find-pkg-share autoware_bag_recorder)/launch/autoware_bag_recorder.launch.xml">
<arg name="bag_recorder_param_path" value="$(find-pkg-share autoware_launch)/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml"/>
</include>
</group>
</launch>
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