saltylab-firmware

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sl-firmware 7a4930e8d2 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>

2026-03-05 17:08:21 -05:00

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