isaac_ros_data_recorder

Source code on GitHub.

Overview

The isaac_ros_data_recorder package enables recording data in Isaac ROS. Data is recorded as an MCAP file with messages serialized in CDR format. Camera streams are encoded in H.264 to reduce storage footprint. For more information on recording data in ROS 2, refer to the documentation for rosbag2.

Tutorials

• Tutorial: Running Event Recorder with RealSense

API

Usage

ros2 launch isaac_ros_data_recorder data_recorder.launch.py

ROS Launch Arguments

ROS Launch Argument	Default Value	Description
sensors	{}	Sensor recording configuration.
topics	['--all']	Additional topics to record.
files	['']	Files to record.
recording_directory	.	Recording directory.
recording_name	rosbag2	Recording name.
encoder_qp	20	H.264 encoder quality parameter, 0-50, higher values mean lower quality.
event_recorder	False	Enable event recording.
max_bag_duration	60	Event recorder max bag duration in seconds.
look_back_window	60	Event recorder look-back window duration in seconds.
look_ahead_window	60	Event recorder look-ahead window duration in seconds.

Note

max_bag_duration, look_back_window, and look_ahead_window only apply when event_recorder is True.

ROS Topics Published

ROS Topic	Interface	Description
/rosbag2/recording_info	isaac_ros_data_recorder/RecordingInfo	Recording information.

Note

/rosbag2/recording_info is only available when event_recorder is False.

ROS Services Advertised

ROS Service	Interface	Description
rosbag2/start_recording	isaac_ros_data_recorder/StartRecording	Starts a new recording.
rosbag2/stop_recording	isaac_ros_data_recorder/StopRecording	Stops the current recording.
event_start	isaac_ros_data_recorder/Event	Signals the start of an event.
event_end	isaac_ros_data_recorder/Event	Signals the end of an event.

Note

rosbag2/start_recording and rosbag2/stop_recording are only available when event_recorder is False.

Note

event_start and event_end are only available when event_recorder is True.