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7e12dab4ae
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feat: ROS2 bag recording manager (Issue #615)
Upgrades saltybot_bag_recorder (Issue #488) with:
- Motion-triggered auto-record: subscribes /cmd_vel, starts on non-zero
velocity, stops after 30s idle timeout (configurable)
- Auto-split at 1 GB or 10 min via subprocess restart
- USB/NVMe storage selection: ordered priority list, picks first path
with >= 2 GB free (/media/usb0 -> /media/usb1 -> /mnt/nvme -> ~/bags)
- Disk monitoring: warns at 70%, triggers cleanup of bags >7 days at 80%
- JSON status on /saltybot/bag_recorder/status at 1 Hz
- Services: /saltybot/bag_recorder/{start,stop,split}
(legacy /saltybot/{start,stop}_recording kept for compatibility)
- bag_policy.py: pure-Python MotionState, DiskInfo, StorageSelector,
BagPolicy — ROS2-free, fully unit-testable
- 76 unit tests passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-15 10:12:40 -04:00 |
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