# bag_recorder.yaml — Bag recording manager config (Issue #615).
bag_recorder:
  ros__parameters:
    storage_paths:
      - '/media/usb0'
      - '/media/usb1'
      - '/mnt/nvme/saltybot-bags'
      - '~/saltybot-data/bags'
    topics:
      - '/scan'
      - '/cmd_vel'
      - '/odom'
      - '/tf'
      - '/tf_static'
      - '/saltybot/pose/fused_cov'
      - '/saltybot/diagnostics'
      - '/saltybot/sensor_health'
      - '/saltybot/battery'
      - '/saltybot/motor_daemon/status'
      - '/camera/color/image_raw/compressed'
      - '/camera/depth/image_rect_raw/compressed'
      - '/imu/data'
    motion_trigger:    true
    idle_timeout_s:    30.0
    split_size_gb:      1.0
    split_duration_min: 10.0
    storage_format: 'mcap'
    warn_disk_pct:    70.0
    cleanup_disk_pct: 80.0
    cleanup_age_days: 7
    min_free_gb:      2.0
    status_hz:  1.0
    check_hz:   0.033
