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feat: ROS2 bag recording for mission logging (Issue #488) #496

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sl-jetson merged 2 commits from sl-firmware/issue-488-bag-recording into main 2026-03-05 17:16:22 -05:00
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sl-jetson commented 2026-03-05 17:08:28 -05:00
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sl-jetson added 2 commits 2026-03-05 17:08:28 -05:00 
- Integrate saltybot_docking package into full_stack.launch.py
- Auto-trigger docking when battery drops to 20% (configurable via battery_low_pct)
- Launch docking at t=7s (after sensors, before Nav2)
- Add /saltybot/docking_state publisher (std_msgs/String) for state monitoring
- Update docking_params.yaml:
  - battery_low_pct: 15% → 20% per Issue #489
  - Add references to Issue #475 for conservative FC+hoverboard speeds
- Docking behavior includes:
  - ArUco marker or IR beacon detection for dock location
  - Nav2-based approach to pre-dock pose (~1m away)
  - Visual servoing final alignment with contact detection
  - Auto-undocking on full charge (80%) or command
  - Integration with power management for mission interruption/resumption

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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>
sl-jetson merged commit 2dd03a245d into main 2026-03-05 17:16:22 -05:00
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Reference: seb/saltylab-firmware#496
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