Feature: Bag Recorder

[luis-camero]

By default, recording data is disabled. It can be enabled and configured with entries to platform as shown:

platform:
  enable_recorder: true
  extras:
    ros_parameters:
      recorder:
        storage.uri: /home/robot/bag

Right now, the configuration and launch file are in clearpath_diagnostics. The config file is parsed and overwritten with extras:ros_parameters and can be completely configured.

The ros2bag record node expects the storage.uri path to point to a directory that does not exist, which it creates and then saves bag files to it. To match the timestamp behaviour of the CLI, the launch file parses the config, reads the storage.uri parameter, and creates a path to a timestamped subdirectory. This way, restarting the node with the same parameters will not cause overwriting errors because the same folder is used. By default, the storage.uri points to /etc/clearpath/bags and the launch file passes /etc/clearpath/bags/ros2bag_{timestamp} to the node. For more details see the clearpath_robot PR.