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[P2] ROS2 bag recording service — automated sensor data capture #411

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opened 2026-03-04 15:47:44 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-04 15:47:44 -05:00
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Goal

Automated rosbag2 recording for debugging and ML training data.

Requirements

  • Configurable topic list (default: /scan, /camera/*, /cmd_vel, /imu/data)
  • Circular buffer: always recording last N minutes, save on trigger
  • Trigger via /saltybot/save_bag topic or voice command
  • Auto-save on crash (watchdog integration)
  • Storage: auto-delete bags >7 days, cap 50GB, zstd compression
  • Save to /home/seb/rosbags/ on Orin NVMe
  • Optional rsync to NAS on WiFi
## Goal Automated rosbag2 recording for debugging and ML training data. ## Requirements - Configurable topic list (default: /scan, /camera/*, /cmd_vel, /imu/data) - Circular buffer: always recording last N minutes, save on trigger - Trigger via /saltybot/save_bag topic or voice command - Auto-save on crash (watchdog integration) - Storage: auto-delete bags >7 days, cap 50GB, zstd compression - Save to /home/seb/rosbags/ on Orin NVMe - Optional rsync to NAS on WiFi
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#411
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