feat: ROS2 bag recording for mission logging (Issue #488)
Implement automatic mission logging with bag recorder: - Auto-records to ~/.saltybot-data/bags/ with 30min rotation - Records mission-critical topics: /scan, /cmd_vel, /odom, /tf, /camera/color/image_raw/compressed, /saltybot/diagnostics - MCAP format (preferred) with fallback to sqlite3 with zstd compression - Services: /saltybot/save_bag, /saltybot/start_recording, /saltybot/stop_recording - FIFO 20GB disk limit with automatic cleanup of oldest bags - Auto-starts on launch, auto-saves on graceful shutdown Changes: - Updated bag_recorder_node.py with new parameters and services - Changed default bag_dir to ~/.saltybot-data/bags/ - Set max_storage_gb to 20 (FIFO limit) - Changed storage_format to MCAP by default - Added start/stop recording service callbacks - Updated package.xml description for mission logging Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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@ -1,24 +1,26 @@
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bag_recorder:
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ros__parameters:
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# Path where bags are stored
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bag_dir: '/home/seb/rosbags'
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# Path where bags are stored (Issue #488: mission logging)
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bag_dir: '~/saltybot-data/bags'
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# Topics to record (empty list = record all)
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topics: []
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# topics:
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# - '/camera/image_raw'
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# - '/lidar/scan'
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# - '/odom'
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# Topics to record for mission logging (Issue #488)
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topics:
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- '/scan'
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- '/cmd_vel'
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- '/odom'
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- '/tf'
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- '/camera/color/image_raw/compressed'
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- '/saltybot/diagnostics'
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# Circular buffer duration (minutes)
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# Rotation interval: save new bag every N minutes (Issue #488: 30 min)
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buffer_duration_minutes: 30
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# Storage management
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# Storage management (Issue #488: FIFO 20GB limit)
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storage_ttl_days: 7 # Remove bags older than 7 days
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max_storage_gb: 50 # Enforce 50GB quota
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max_storage_gb: 20 # Enforce 20GB FIFO quota
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# Compression
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compression: 'zstd' # Options: zstd, zstandard
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# Storage format (Issue #488: prefer MCAP)
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storage_format: 'mcap' # Options: mcap, sqlite3
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# NAS sync (optional)
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enable_rsync: false
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@ -4,8 +4,9 @@
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<name>saltybot_bag_recorder</name>
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<version>0.1.0</version>
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<description>
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ROS2 bag recording service with circular buffer, auto-save on crash, and storage management.
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Configurable topics, 7-day TTL, 50GB cap, zstd compression, and optional NAS rsync.
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ROS2 bag recording service for mission logging with circular buffer and storage management.
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Records mission-critical topics to MCAP format with 30min rotation, 20GB FIFO cap, auto-start,
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start/stop services, and optional NAS rsync for archival (Issue #488).
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</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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@ -17,20 +17,28 @@ from std_msgs.msg import String
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class BagRecorderNode(Node):
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"""ROS2 bag recording service with circular buffer and storage management."""
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"""ROS2 bag recording service for mission logging (Issue #488)."""
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def __init__(self):
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super().__init__('saltybot_bag_recorder')
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# Configuration
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self.declare_parameter('bag_dir', '/home/seb/rosbags')
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self.declare_parameter('topics', [''])
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# Configuration (Issue #488: mission logging)
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default_bag_dir = str(Path.home() / 'saltybot-data' / 'bags')
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self.declare_parameter('bag_dir', default_bag_dir)
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self.declare_parameter('topics', [
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'/scan',
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'/cmd_vel',
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'/odom',
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'/tf',
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'/camera/color/image_raw/compressed',
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'/saltybot/diagnostics'
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])
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self.declare_parameter('buffer_duration_minutes', 30)
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self.declare_parameter('storage_ttl_days', 7)
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self.declare_parameter('max_storage_gb', 50)
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self.declare_parameter('max_storage_gb', 20)
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self.declare_parameter('enable_rsync', False)
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self.declare_parameter('rsync_destination', '')
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self.declare_parameter('compression', 'zstd')
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self.declare_parameter('storage_format', 'mcap')
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self.bag_dir = Path(self.get_parameter('bag_dir').value)
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self.topics = self.get_parameter('topics').value
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@ -39,7 +47,7 @@ class BagRecorderNode(Node):
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self.max_storage_gb = self.get_parameter('max_storage_gb').value
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self.enable_rsync = self.get_parameter('enable_rsync').value
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self.rsync_destination = self.get_parameter('rsync_destination').value
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self.compression = self.get_parameter('compression').value
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self.storage_format = self.get_parameter('storage_format').value
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self.bag_dir.mkdir(parents=True, exist_ok=True)
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@ -51,11 +59,9 @@ class BagRecorderNode(Node):
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self.recording_lock = threading.Lock()
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# Services
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self.save_service = self.create_service(
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Trigger,
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'/saltybot/save_bag',
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self.save_bag_callback
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)
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self.save_service = self.create_service(Trigger, '/saltybot/save_bag', self.save_bag_callback)
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self.start_service = self.create_service(Trigger, '/saltybot/start_recording', self.start_recording_callback)
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self.stop_service = self.create_service(Trigger, '/saltybot/stop_recording', self.stop_recording_callback)
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# Watchdog to handle crash recovery
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self.setup_signal_handlers()
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@ -67,9 +73,8 @@ class BagRecorderNode(Node):
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self.maintenance_timer = self.create_timer(300.0, self.maintenance_callback)
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self.get_logger().info(
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f'Bag recorder initialized: {self.bag_dir}, '
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f'buffer={self.buffer_duration}s, ttl={self.storage_ttl_days}d, '
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f'max={self.max_storage_gb}GB'
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f'Bag recorder initialized: {self.bag_dir}, format={self.storage_format}, '
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f'buffer={self.buffer_duration}s, max={self.max_storage_gb}GB, topics={len(self.topics)}'
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)
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def setup_signal_handlers(self):
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@ -95,27 +100,21 @@ class BagRecorderNode(Node):
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try:
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# Build rosbag2 record command
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cmd = [
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'ros2', 'bag', 'record',
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f'--output', str(bag_path),
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f'--compression-format', self.compression,
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f'--compression-mode', 'file',
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]
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cmd = ['ros2', 'bag', 'record', '--output', str(bag_path), '--storage', self.storage_format]
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# Add topics or record all if empty
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# Add compression for sqlite3 format
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if self.storage_format == 'sqlite3':
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cmd.extend(['--compression-format', 'zstd', '--compression-mode', 'file'])
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# Add topics (required for mission logging)
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if self.topics and self.topics[0]:
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cmd.extend(self.topics)
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else:
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cmd.append('--all')
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cmd.extend(['/scan', '/cmd_vel', '/odom', '/tf', '/camera/color/image_raw/compressed', '/saltybot/diagnostics'])
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self.current_bag_process = subprocess.Popen(
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cmd,
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stdout=subprocess.PIPE,
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stderr=subprocess.PIPE
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)
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self.current_bag_process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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self.is_recording = True
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self.buffer_bags.append(self.current_bag_name)
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self.get_logger().info(f'Started recording: {self.current_bag_name}')
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except Exception as e:
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@ -133,7 +132,40 @@ class BagRecorderNode(Node):
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response.success = False
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response.message = f'Failed to save bag: {e}'
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self.get_logger().error(response.message)
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return response
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def start_recording_callback(self, request, response):
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"""Service callback to start recording."""
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if self.is_recording:
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response.success = False
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response.message = 'Recording already in progress'
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return response
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try:
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self.start_recording()
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response.success = True
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response.message = f'Recording started: {self.current_bag_name}'
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self.get_logger().info(response.message)
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except Exception as e:
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response.success = False
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response.message = f'Failed to start recording: {e}'
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self.get_logger().error(response.message)
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return response
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def stop_recording_callback(self, request, response):
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"""Service callback to stop recording."""
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if not self.is_recording:
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response.success = False
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response.message = 'No recording in progress'
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return response
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try:
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self.stop_recording(save=True)
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response.success = True
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response.message = f'Recording stopped and saved: {self.current_bag_name}'
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self.get_logger().info(response.message)
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except Exception as e:
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response.success = False
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response.message = f'Failed to stop recording: {e}'
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self.get_logger().error(response.message)
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return response
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def stop_recording(self, save: bool = False):
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@ -141,9 +173,7 @@ class BagRecorderNode(Node):
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with self.recording_lock:
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if not self.is_recording or not self.current_bag_process:
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return
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try:
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# Send SIGINT to gracefully close rosbag2
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self.current_bag_process.send_signal(signal.SIGINT)
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self.current_bag_process.wait(timeout=5.0)
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except subprocess.TimeoutExpired:
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@ -152,11 +182,8 @@ class BagRecorderNode(Node):
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self.current_bag_process.wait()
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except Exception as e:
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self.get_logger().error(f'Error stopping recording: {e}')
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self.is_recording = False
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self.get_logger().info(f'Stopped recording: {self.current_bag_name}')
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# Apply compression if needed (rosbag2 does this by default with -compression-mode file)
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if save:
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self.apply_compression()
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@ -164,13 +191,9 @@ class BagRecorderNode(Node):
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"""Compress the current bag using zstd."""
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if not self.current_bag_name:
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return
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bag_path = self.bag_dir / self.current_bag_name
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try:
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# rosbag2 with compression-mode file already compresses the sqlite db
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# This is a secondary option to compress the entire directory
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tar_path = f'{bag_path}.tar.zst'
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if bag_path.exists():
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cmd = ['tar', '-I', 'zstd', '-cf', tar_path, '-C', str(self.bag_dir), self.current_bag_name]
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subprocess.run(cmd, check=True, capture_output=True, timeout=60)
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@ -189,14 +212,11 @@ class BagRecorderNode(Node):
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"""Remove bags older than TTL."""
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try:
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cutoff_time = datetime.now() - timedelta(days=self.storage_ttl_days)
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for item in self.bag_dir.iterdir():
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if item.is_dir() and item.name.startswith('saltybot_'):
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try:
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# Parse timestamp from directory name
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timestamp_str = item.name.replace('saltybot_', '')
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item_time = datetime.strptime(timestamp_str, '%Y%m%d_%H%M%S')
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if item_time < cutoff_time:
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shutil.rmtree(item, ignore_errors=True)
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self.get_logger().info(f'Removed expired bag: {item.name}')
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@ -206,51 +226,26 @@ class BagRecorderNode(Node):
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self.get_logger().error(f'Cleanup failed: {e}')
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def enforce_storage_quota(self):
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"""Remove oldest bags if total size exceeds quota."""
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"""Remove oldest bags if total size exceeds quota (FIFO)."""
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try:
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total_size = sum(
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f.stat().st_size
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for f in self.bag_dir.rglob('*')
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if f.is_file()
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) / (1024 ** 3) # Convert to GB
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total_size = sum(f.stat().st_size for f in self.bag_dir.rglob('*') if f.is_file()) / (1024 ** 3)
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if total_size > self.max_storage_gb:
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self.get_logger().warn(
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f'Storage quota exceeded: {total_size:.2f}GB > {self.max_storage_gb}GB'
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)
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# Get bags sorted by modification time
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bags = sorted(
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[d for d in self.bag_dir.iterdir() if d.is_dir() and d.name.startswith('saltybot_')],
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key=lambda x: x.stat().st_mtime
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)
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# Remove oldest bags until under quota
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self.get_logger().warn(f'Storage quota exceeded: {total_size:.2f}GB > {self.max_storage_gb}GB')
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bags = sorted([d for d in self.bag_dir.iterdir() if d.is_dir() and d.name.startswith('saltybot_')], key=lambda x: x.stat().st_mtime)
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for bag in bags:
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if total_size <= self.max_storage_gb:
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break
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bag_size = sum(
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f.stat().st_size
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for f in bag.rglob('*')
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if f.is_file()
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) / (1024 ** 3)
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bag_size = sum(f.stat().st_size for f in bag.rglob('*') if f.is_file()) / (1024 ** 3)
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shutil.rmtree(bag, ignore_errors=True)
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total_size -= bag_size
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self.get_logger().info(f'Removed bag to enforce quota: {bag.name}')
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except Exception as e:
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self.get_logger().error(f'Storage quota enforcement failed: {e}')
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def rsync_bags(self):
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"""Optional: rsync bags to NAS."""
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try:
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cmd = [
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'rsync', '-avz', '--delete',
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f'{self.bag_dir}/',
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self.rsync_destination
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]
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cmd = ['rsync', '-avz', '--delete', f'{self.bag_dir}/', self.rsync_destination]
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subprocess.run(cmd, check=False, timeout=300)
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self.get_logger().info(f'Synced bags to NAS: {self.rsync_destination}')
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except subprocess.TimeoutExpired:
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@ -267,7 +262,6 @@ class BagRecorderNode(Node):
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def main(args=None):
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rclpy.init(args=args)
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node = BagRecorderNode()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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