From 6cb8520407050bfea6eb3bb42548407d557d50b8 Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Fri, 1 Sep 2023 19:10:30 +0300 Subject: [PATCH 1/2] add bag recorder package to launch --- .../autoware_bag_recorder.param.yaml | 44 +++++++++++++++++++ autoware_launch/launch/autoware.launch.xml | 5 +++ 2 files changed, 49 insertions(+) create mode 100644 autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml diff --git a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml new file mode 100644 index 0000000000..4976e59238 --- /dev/null +++ b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml @@ -0,0 +1,44 @@ +/**: + 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 + number_of_maximum_bags: 1000 # limit of stored bag file count + path: "/home/robione/Files/bags/" # Path to bag file for saving + prefix: "logging_ros2bag_" # Prefix for folder name + minimum_acceptable_disk_space: 20 # 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: + - /perception/object_recognition/detection/rois0 + - /perception/object_recognition/detection/rois1 + - /perception/object_recognition/detection/rois2 + - /perception/object_recognition/detection/rois3 + - /sensing/camera/camera0/camera_info + - /sensing/camera/camera1/camera_info + - /sensing/camera/camera2/camera_info + - /sensing/camera/camera3/camera_info + - /sensing/gnss/clap/ros/imu + - /sensing/gnss/clap/ros/gps_nav_sat_fix + - /sensing/gnss/clap/ros/twist_with_covariance_stamped + - /sensing/gnss/clap/autoware_orientation + - /sensing/lidar/left/pointcloud_raw + - /sensing/lidar/right/pointcloud_raw + - /sensing/lidar/top/pointcloud_raw + - /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: + - /sensing/camera/camera0/image_rect + - /perception/obstacle_segmentation/pointcloud + - /perception/object_recognition/objects + - /planning/scenario_planning/trajectory + - /planning/scenario_planning/lane_driving/behavior_planning/path + diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d8dd8a5ba..6b57f4f9b6 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -35,6 +35,7 @@ + @@ -110,5 +111,9 @@ + + + + From fd156b6c30d0d791fbf705cc77cfea42fda2c54e Mon Sep 17 00:00:00 2001 From: Leo Dive Date: Fri, 1 Sep 2023 21:08:47 +0300 Subject: [PATCH 2/2] add golf topics --- .../autoware_bag_recorder.param.yaml | 55 ++++++++++++------- 1 file changed, 35 insertions(+), 20 deletions(-) diff --git a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml index 4976e59238..9e612cb967 100644 --- a/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml +++ b/autoware_launch/config/tools/autoware_bag_recorder/autoware_bag_recorder.param.yaml @@ -3,40 +3,55 @@ common: database_storage: "mcap" # sqlite3 or mcap maximum_record_time: 36000 # seconds - maximum_allowed_bag_storage_size: 500.0 # GB + maximum_allowed_bag_storage_size: 7000.0 # GB maximum_bag_file_size: 20.0 # GB enable_only_auto_mode_recording: false # if enabled, recording occurs only "AUTO" mode number_of_maximum_bags: 1000 # limit of stored bag file count - path: "/home/robione/Files/bags/" # Path to bag file for saving + path: "/media/golf/DATA/TEMP/" # Path to bag file for saving prefix: "logging_ros2bag_" # Prefix for folder name - minimum_acceptable_disk_space: 20 # GB - disk_space_threshold_action: "shutdown" # [remove, shutdown] remove files or shutdown node + minimum_acceptable_disk_space: 100 # GB + disk_space_threshold_action: "remove" # [remove, shutdown] remove files or shutdown node raw_input_topics: # for rosbag-replay (logging) simulation record_raw_input: true raw_input_topics: - - /perception/object_recognition/detection/rois0 - - /perception/object_recognition/detection/rois1 - - /perception/object_recognition/detection/rois2 - - /perception/object_recognition/detection/rois3 - - /sensing/camera/camera0/camera_info - - /sensing/camera/camera1/camera_info - - /sensing/camera/camera2/camera_info - - /sensing/camera/camera3/camera_info - - /sensing/gnss/clap/ros/imu - - /sensing/gnss/clap/ros/gps_nav_sat_fix - - /sensing/gnss/clap/ros/twist_with_covariance_stamped - - /sensing/gnss/clap/autoware_orientation - - /sensing/lidar/left/pointcloud_raw - - /sensing/lidar/right/pointcloud_raw + - /lucid_vision/front_camera/camera_info + - /lucid_vision/front_left_camera/camera_info + - /lucid_vision/front_right_camera/camera_info + - /lucid_vision/middle_left_camera/camera_info + - /lucid_vision/middle_right_camera/camera_info + - /lucid_vision/rear_camera/camera_info + - /lucid_vision/rear_left_camera/camera_info + - /lucid_vision/rear_right_camera/camera_info + - /perception/object_recognition/detection/front_right_camera/rois0 + - /perception/object_recognition/detection/front_camera/rois1 + - /perception/object_recognition/detection/front_left_camera/rois2 + - /perception/object_recognition/detection/middle_left_camera/rois3 + - /perception/object_recognition/detection/middle_right_camera/rois4 + - /perception/object_recognition/detection/rear_left_camera/rois5 + - /perception/object_recognition/detection/rear_right_camera/rois6 + - /perception/object_recognition/detection/rear_camera/rois7 + - /sensing/lidar/top/velodyne_packets + - /sensing/lidar/rear_right/velodyne_packets + - /sensing/lidar/rear_left/velodyne_packets + - /sensing/lidar/middle_right/velodyne_packets + - /sensing/lidar/middle_left/velodyne_packets - /sensing/lidar/top/pointcloud_raw + - /sensing/gnss/sbg/ros/ekf_nav_sat_fix + - /sensing/gnss/sbg/ros/imu/data + - /sensing/gnss/sbg/ros/imu/mag + - /sensing/gnss/sbg/ros/nav_sat_fix + - /sensing/gnss/sbg/ros/pos_ecef + - /sensing/gnss/sbg/ros/temp + - /sensing/gnss/sbg/ros/twist_with_covariance_stamped + - /sensing/gnss/sbg/ros/utc_ref + - /sensing/gnss/sbg/status - /vehicle/status/control_mode - /vehicle/status/gear_status - /vehicle/status/steering_status - /vehicle/status/velocity_status other_topics: # all other topics - record_other: false + record_other: true other_topics: - - /sensing/camera/camera0/image_rect - /perception/obstacle_segmentation/pointcloud - /perception/object_recognition/objects - /planning/scenario_planning/trajectory