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tkimura4mitsudome-rkmiyawep21kenji-miyake
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feat: add autoware_rosbag_recorder packages (#98)
* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit ac428d4af68ef0b51992d31f692dd9aae9a4a944. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Unify Apache-2.0 license name (#1242) * Port autoware rosbag recorder to ros2 (#1569) * Port autoware rosbag recorder to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update record.sh Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add shellcheck (#2079) * Add shellcheck Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix shellcheck Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove COLCON_IGNORE (#510) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/add readme common pkg (#567) * add description to global paraemeter loader * add readme to rosbag recorde * fix typo Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Fix Format Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Clarify the description Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Fix Typo Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * proper description Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * fix topic name * fix topic name Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
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‎.pre-commit-config.yaml

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- id: prettier-package-xml
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- id: sort-package-xml
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- repo: https://github.com/gruntwork-io/pre-commit
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rev: v0.1.17
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- repo: https://github.com/shellcheck-py/shellcheck-py
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rev: v0.8.0.1
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hooks:
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- id: shellcheck
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- repo: https://github.com/scop/pre-commit-shfmt
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rev: v3.4.1-1
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hooks:
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- id: shfmt-docker
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- id: shfmt
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- repo: https://github.com/pycqa/isort
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rev: 5.10.1

‎common/autoware_rosbag_recorder/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(autoware_rosbag_recorder)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package()
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install(PROGRAMS
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scripts/record.sh
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DESTINATION lib/${PROJECT_NAME}
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)

‎common/autoware_rosbag_recorder/Readme.md

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# Autoware Rosbag Recorder
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This package is to record ros2 bag with desired topic.
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## Usage
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Here is a usage below.
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```sh
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ros2 run autoware_rosbag_recorder record.sh [-o filename]
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```
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If you want some other topics to record, you need to modify below in record.sh as an example.
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```sh
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ros2 bag record -e "(.*)/velodyne_packets|/pacmod_interface/(.*)|/pacmod/(.*)|/vehicle/(.*)|/sensing/imu/(.*)|/sensing/gnss/(.*)|/sensing/camera/(.*)/camera_info|/sensing/camera/(.*)/compressed|/perception/object_recognition/detection/rois(.)|/perception/object_recognition/objects" -o "$OPTARG";
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```
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## Assumptions / Known limits
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Recording all topics in autoware is very heavy so usually you need to avoid points cloud topics to record.

‎common/autoware_rosbag_recorder/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>autoware_rosbag_recorder</name>
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<version>0.1.0</version>
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<description>The autoware_rosbag_recorder package</description>
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<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎common/autoware_rosbag_recorder/scripts/record.sh

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#!/bin/sh
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usage_exit() {
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echo "Usage: ros2 run autoware_rosbag_recorder record.sh [-o filename]" 1>&2
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exit 1
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}
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while getopts o:h OPT; do
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case $OPT in
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"o") echo "record as $OPTARG" ;;
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"h") usage_exit ;;
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"*") usage_exit ;;
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\?) usage_exit ;;
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esac
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done
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if [ -n "$OPTARG" ]; then
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ros2 bag record -e "(.*)/velodyne_packets|/pacmod_interface/(.*)|/pacmod/(.*)|/vehicle/(.*)|/sensing/imu/(.*)|/sensing/gnss/(.*)|/sensing/camera/(.*)/camera_info|/sensing/camera/(.*)/compressed|/perception/object_recognition/detection/rois(.)|/perception/object_recognition/objects" -o "$OPTARG"
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else
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usage_exit
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fi

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