Aj/metrics recording (#314)

* Create bag directory if does not exist

* Fix typo in reading launch arg

* Add bags to launch file

* Add RECORD_BAGS env variable to toggle record bags from launch

* Add docs for bag logging

Author: andrewjong

.env

@@ -63,6 +63,8 @@ BEHAVIOR_LAUNCH_FILE="behavior.launch.xml"
 # offboard API streaming out. this is so that ports don't conflict for multi-agent FCU communication
 OFFBOARD_BASE_PORT=14540
 ONBOARD_BASE_PORT=14580
+
+RECORD_BAGS="false"  # "true" or "false"
 # ===============================================
 
 # =========== GROUND CONTROL STATION ============

common/ros_packages/bag_recorder_pid/bag_record_pid/bag_record_node.py

@@ -37,11 +37,10 @@ def __init__(self):
         self.active = False
         self.cfg = yaml.safe_load(open(self.cfg_path))
 
-        # Exit if it does not exist.
+        # Create output directory if it doesn't exist
         if not os.path.exists(self.output_dir):
-            self.get_logger().error(f"Output directory {self.output_dir} does not exist.")
-            rclpy.shutdown()
-            return
+            self.get_logger().info(f"Output directory {self.output_dir} does not exist. Creating it.")
+            os.makedirs(self.output_dir, exist_ok=True)
         os.chdir(self.output_dir)
 
         self.command_prefix = ["ros2", "bag", "record", "-s", "mcap"]

docs/robot/logging/index.md

@@ -1 +1,15 @@
-# Logging
+# Logging
+
+## Bag Recording
+
+AirStack provides automated bag recording capabilities for capturing ROS2 topic data during flights. The main node for bag recording is located at [common/ros_packages/bag_recorder_pid](../../common/ros_packages/bag_recorder_pid). For detailed configuration options and implementation details, please consult the README in that directory.
+
+### Enabling Bag Recording
+
+To enable bag recording, prepend `RECORD_BAGS=true` to the airstack up command:
+
+```bash
+RECORD_BAGS=true airstack up robot
+```
+
+The BehaviorTree will automatically trigger topic recording once the drone takes off. Recorded bags will appear in the `./robot/bags` directory. 

gcs/bags/.gitignore

@@ -0,0 +1,11 @@
+# list of all ros2 bag files to ignore
+*.mcap
+*.mcap.index
+*.mcap.meta
+*.mcap.bag
+*.mcap.bag.index
+*.mcap.bag.meta
+*.db3
+*.db3.index
+*.db3.meta
+*.yaml

gcs/docker/docker-compose.yaml

@@ -23,6 +23,6 @@ services:
       service: gcs-base
     network_mode: host
     volumes:
-      - $HOME/bags/:/bags
+      - $HOME/bags:/bags
       - ../../robot/ros_ws/src/robot_bringup/rviz/:/bags/rviz
       - ../../plot:/plot

gcs/docker/gcs-base-docker-compose.yaml

@@ -50,4 +50,6 @@ services:
       # autonomy stack stuff
       - ../..:/root/AirStack
       - ../../common/ros_packages:/root/AirStack/gcs/ros_ws/src/common:rw # common ROS packages
-      - ../../common/ros_packages/fastdds.xml:/root/AirStack/gcs/ros_ws/fastdds.xml:rw # fastdds.xml
+      - ../../common/ros_packages/fastdds.xml:/root/AirStack/gcs/ros_ws/fastdds.xml:rw # fastdds.xml
+      # bags
+      - ../bags:/bags:rw

mkdocs.yml

@@ -112,6 +112,7 @@ nav:
           - docs/robot/static_transforms/index.md
       - Logging:
           - docs/robot/logging/index.md
+          - common/ros_packages/bag_recorder_pid/README.md
   - Ground Control Station:
       - docs/ground_control_station/index.md
       - Usage:

robot/bags/.gitignore

@@ -0,0 +1,11 @@
+# list of all ros2 bag files to ignore
+*.mcap
+*.mcap.index
+*.mcap.meta
+*.mcap.bag
+*.mcap.bag.index
+*.mcap.bag.meta
+*.db3
+*.db3.index
+*.db3.meta
+*.yaml

robot/docker/robot-base-docker-compose.yaml

@@ -35,6 +35,8 @@ services:
       - ONBOARD_BASE_PORT=${ONBOARD_BASE_PORT}
       # URDF Robot Description
       - ROBOT_URDF_FILE_PATH=${ROBOT_DESCRIPTION_PACKAGE}/urdf/${ROBOT_URDF_FILE}
+      # Record bags
+      - RECORD_BAGS=${RECORD_BAGS}
     deploy:
       # let it use the GPU
       resources:
@@ -59,4 +61,6 @@ services:
       - ../..:/root/AirStack
       - ../../common/ros_packages:/root/AirStack/robot/ros_ws/src/common:rw # common ROS packages
       - ../../common/ros_packages/fastdds.xml:/root/AirStack/robot/ros_ws/fastdds.xml:rw # fastdds.xml
+      # bags
+      - ../bags:/bags:rw
 

robot/ros_ws/src/logging/logging_bringup/launch/logging.launch.xml

@@ -1,7 +1,8 @@
 <!-- LOGGING -->
 <launch>
+  <arg name="record_bag" default="false" />
 
-  <group if="$(arg record_bag)">
+  <group if="$(var record_bag)">
     <node name="bag_record" pkg="bag_record_pid" exec="bag_record_node">
       <param name="cfg_path" value="$(find-pkg-share logging_bringup)/config/log.yaml" />
       <param name="output_dir" value="/bags" />