Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

Isaac ROS Scene Recorder

Source code on GitHub.

This node records data published to given topics and saves them as rosbag.

Quickstart

To run Mission Client with the recorder, set the ros_recorder launch file parameter to true.

ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_nav2_client.launch.py ros_recorder:=true

or

ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_client.launch.py ros_recorder:=true

To start the recorder, post a mission from mission dispatch. Here is an example mission:

{
  "robot": "carter01",
  "mission_tree": [
    {
      "name": "string",
      "parent": "root",
      "action": {
        "action_type": "start_recording",
        "action_parameters": {"path": "/tmp/data", "topics": "/rgb_left", "time":3}
      }
    }
  ],
  "timeout": 300,
  "deadline": "2022-10-07T00:21:31.112Z",
  "needs_canceled": false,
  "name": "mission01"
}

The action_type should be start_recording and the parameters path, topics, time are required. The recorder saves data published by topics in folder path for time seconds.

To stop the recorder, post a mission with action of type stop_recording from Mission Dispatch. Here is an example:

{
  "robot": "carter01",
  "mission_tree": [
    {
      "name": "string",
      "parent": "root",
      "action": {
        "action_type": "stop_recording"
      }
    }
  ],
  "timeout": 300,
  "deadline": "2022-10-07T00:21:31.112Z",
  "needs_canceled": false,
  "name": "mission02"
}