Improve record_rosbag.sh (#16)

Improve rosbags naming and usage of the `record_rosbag.sh` script

- Change default bag name from `<timestamp>_sensor_recording` to
`<timestamp>_all_sensors_recording`
  - Add `--all` flag to record all available topics
  - Add ` -f | --file` to explicitly specify the topic list file
- Add autocomplete for `-f | --file` flag to automatically list
available topics list files
  - Rename `sensor_topics.txt` to `all_sensors_topics.txt`
  - Record topics listed in `all_sensors_topic.txt` by default
  - Fix  magic numbers

Dockerfile

@@ -47,6 +47,9 @@ ENV RCUTILS_COLORIZED_OUTPUT=1
 COPY scripts/container_tools $ROS_WS/container_tools
 COPY config                  $ROS_WS/config
 
+# Set tools autocomplete
+RUN echo "source $ROS_WS/container_tools/_tools_autocomplete.sh" >> /root/.bashrc
+
 # Add tools to PATH
 RUN echo "export PATH=$ROS_WS/container_tools:$PATH " >> /root/.bashrc &&\
     # Add sourcing local workspace command to bashrc for
@@ -107,4 +110,4 @@ CMD ["bash"]
 FROM base AS runtime
 
 # Start recording a rosbag by default
-CMD ["/opt/ros_ws/container_tools/record_rosbag.sh", "/opt/ros_ws/config/sensor_topics.txt"]
+CMD ["/opt/ros_ws/container_tools/record_rosbag.sh"]

config/sensor_topics.txt → config/recording_presets/all_sensor_topics.txt

@@ -19,21 +19,27 @@
 /robot_description
 /sensor/camera/fsp_l/camera_info
 /sensor/camera/fsp_l/image_raw
+/sensor/camera/fsp_l/image_rect_color/compressed
 /sensor/camera/fsp_l/meta
 /sensor/camera/lspf_r/camera_info
 /sensor/camera/lspf_r/image_raw
+/sensor/camera/lspf_r/image_rect_color/compressed
 /sensor/camera/lspf_r/meta
 /sensor/camera/lspr_l/camera_info
 /sensor/camera/lspr_l/image_raw
+/sensor/camera/lspr_l/image_rect_color/compressed
 /sensor/camera/lspr_l/meta
 /sensor/camera/rsp_l/camera_info
 /sensor/camera/rsp_l/image_raw
+/sensor/camera/rsp_l/image_rect_color/compressed
 /sensor/camera/rsp_l/meta
 /sensor/camera/rspf_l/camera_info
 /sensor/camera/rspf_l/image_raw
+/sensor/camera/rspf_l/image_rect_color/compressed
 /sensor/camera/rspf_l/meta
 /sensor/camera/rspr_r/camera_info
 /sensor/camera/rspr_r/image_raw
+/sensor/camera/rspr_r/image_rect_color/compressed
 /sensor/camera/rspr_r/meta
 /sensor/gps/bestpos
 /sensor/gps/bestvel

config/recording_presets/calibration_lspf_r.txt

@@ -0,0 +1,8 @@
+/joint_states
+/robot_description
+/sensor/camera/lspf_r/camera_info
+/sensor/camera/lspf_r/image_rect_color/compressed
+/sensor/camera/lspf_r/meta
+/sensor/lidar/top/points
+/tf
+/tf_static

config/recording_presets/calibration_lspr_l.txt

@@ -0,0 +1,8 @@
+/joint_states
+/robot_description
+/sensor/camera/lspr_l/camera_info
+/sensor/camera/lspr_l/image_rect_color/compressed
+/sensor/camera/lspr_l/meta
+/sensor/lidar/top/points
+/tf
+/tf_static

config/recording_presets/calibration_rsp_l.txt

@@ -0,0 +1,8 @@
+/joint_states
+/robot_description
+/sensor/camera/rsp_l/camera_info
+/sensor/camera/rsp_l/image_rect_color/compressed
+/sensor/camera/rsp_l/meta
+/sensor/lidar/top/points
+/tf
+/tf_static

config/recording_presets/calibration_rspf_l.txt

@@ -0,0 +1,8 @@
+/joint_states
+/robot_description
+/sensor/camera/rspf_l/camera_info
+/sensor/camera/rspf_l/image_rect_color/compressed
+/sensor/camera/rspf_l/meta
+/sensor/lidar/top/points
+/tf
+/tf_static

config/recording_presets/calibration_rspr_r.txt

@@ -0,0 +1,8 @@
+/joint_states
+/robot_description
+/sensor/camera/rspr_r/camera_info
+/sensor/camera/rspr_r/image_rect_color/compressed
+/sensor/camera/rspr_r/meta
+/sensor/lidar/top/points
+/tf
+/tf_static

scripts/container_tools/_tools_autocomplete.sh

@@ -0,0 +1,32 @@
+_record_rosbag_autocomplete() {
+    local cur prev opts
+    cur="${COMP_WORDS[COMP_CWORD]}"
+    prev="${COMP_WORDS[COMP_CWORD-1]}"
+
+    # Directory containing topic lists presets
+    topic_list_dir="/opt/ros_ws/config/recording_presets"
+
+    COMPREPLY=()
+
+    # Check if the previous argument was -f or --file
+    if [[ "$prev" == "-f" || "$prev" == "--file" ]]; then
+        # List only the filenames (not full paths)
+        local files=$(ls "$topic_list_dir"/*.txt 2>/dev/null | xargs -n1 basename)
+
+        # If the current input (`cur`) starts with the full path, strip the path
+        if [[ "$cur" == "$topic_list_dir/"* ]]; then
+            cur="${cur##*/}"  # Remove the path, leaving only the filename part
+        fi
+
+        # Autocomplete the filenames
+        COMPREPLY=( $(compgen -W "$files" -- "$cur") )
+
+        # If the user selects a file, prepend the full path
+        if [[ ${#COMPREPLY[@]} -eq 1 ]]; then
+            COMPREPLY[0]="$topic_list_dir/${COMPREPLY[0]}"
+        fi
+    fi
+}
+
+# Register autocomplete function
+complete -F _record_rosbag_autocomplete record_rosbag.sh

scripts/container_tools/record_rosbag.sh

@@ -13,27 +13,34 @@ DATE_PREFIX=$(date "+%Y_%m_%d-%H_%M_%S")
 
 # Function to display help
 help() {
-    echo "Usage: record_rosbag.sh [options] [path-to-topics-list-file.txt]"
-    echo ""
-    echo "Options:"
-    echo "  -n, --name    Set the rosbag name (default is 'sensor_recording')."
-    echo "  -h, --help    Display this help message and exit."
-    echo ""
-    echo "Examples:"
-    echo "  record_rosbag.sh  -n custom_name topics_list.txt"
-    echo "  record_rosbag.sh  --name custom_name topics_list.txt"
-    echo "  record_rosbag.sh  topics_list.yaml"
-    echo "  record_rosbag.sh  (record all topics)"
+    echo "Usage: record_rosbag.sh [options]
+
+    Options:
+    --all       Record all available topics
+    -f, --file TOPIC_LIST.txt
+                Specify topic list file (Default: all_sensor_topics.txt)
+    -n, --name ROSBAG_NAME
+                Set the rosbag name (Default: all_sensors_recording).
+    -h, --help  Display this help message and exit.
+    "
     exit 0
 }
 
-# Initialize variables
-TOPICS_LIST_FILE=""
-ROSBAG_SUFFIX="sensor_recording"
+TOPICS_LIST_FILE="$ROS_WS/config/recording_presets/all_sensor_topics.txt"
+ROSBAG_SUFFIX="all_sensors_recording"
+RECORD_ALL=""
+MAX_CACHE_SIZE="5000000000"
+MAX_BAG_SIZE="10740000000"
 
-# Parse command-line arguments
 while [[ "$#" -gt 0 ]]; do
     case $1 in
+        --all)
+            RECORD_ALL="YES"
+            ;;
+        -f|--file)
+            TOPICS_LIST_FILE="$2"
+            shift
+            ;;
         -n|--name)
             ROSBAG_SUFFIX="$2"
             shift
@@ -42,19 +49,24 @@ while [[ "$#" -gt 0 ]]; do
             help
             ;;
         *)
-            TOPICS_LIST_FILE="$1"
+            echo "Unsupported flag"
+            help
             ;;
     esac
     shift
 done
 
-# Define default behavior if no file is provided
-if [ -z "$TOPICS_LIST_FILE" ]; then
-    echo -e "No topics list file provided. ${CYAN}Recording all topics.${NO_COLOR}"
-    ros2 bag record -s mcap --all --max-cache-size 5000000000 \
+if [ ! -z "$RECORD_ALL" ]; then
+    echo -e "${CYAN}Recording all topics.${NO_COLOR}"
+
+    ROSBAG_PATH="$OUTPUT_DIR/${DATE_PREFIX}_all_topics"
+
+    ros2 bag record -s mcap --all --max-cache-size $MAX_CACHE_SIZE \
         --storage-config-file "$ROS_WS/config/mcap_cfg.yaml" \
-        -b 10740000000 \
-        -o "$OUTPUT_DIR/${DATE_PREFIX}_all_topics"
+        -b $MAX_BAG_SIZE \
+        -o "$ROSBAG_PATH"
+
+    echo -e "Recording saved in: ${CYAN}${ROSBAG_PATH}${NO_COLOR}"
     exit 0
 fi
 
@@ -67,14 +79,17 @@ fi
 # Read topics into an array
 readarray -t TOPICS < "$TOPICS_LIST_FILE"
 
-# Start recording the topics
+ROSBAG_PATH="${OUTPUT_DIR}/${DATE_PREFIX}_${ROSBAG_SUFFIX}"
+
 if [ ${#TOPICS[@]} -eq 0 ]; then
     echo "No topics found in the file. Stopping recording."
     exit 1
 else
     echo -e "Recording topics from ${MAGENTA}$TOPICS_LIST_FILE${NO_COLOR}"
-    ros2 bag record -s mcap --max-cache-size 5000000000 \
+    ros2 bag record -s mcap --max-cache-size $MAX_CACHE_SIZE \
         --storage-config-file "$ROS_WS/config/mcap_cfg.yaml" \
-        -b 10740000000 \
-        -o "$OUTPUT_DIR/${DATE_PREFIX}_${ROSBAG_SUFFIX}" "${TOPICS[@]}"
+        -b $MAX_BAG_SIZE \
+        -o $ROSBAG_PATH "${TOPICS[@]}"
 fi
+
+echo -e "Recording saved in: ${CYAN}${ROSBAG_PATH}${NO_COLOR}"