Commit 0f8140ff authored by simalpha's avatar simalpha
Browse files

Created rosbag record launch - includes aicp channels.

parent 2fb3f17e
<?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- lower png_level from realsense camera, so that png compression can be real time. -->
<!-- default (1) can only be published at 5Hz. range of png_level is 1-9 -->
<node pkg="dynamic_reconfigure" type="dynparam" name="dynparam" output="screen"
args="set /realsense_d435/aligned_depth_to_color/image_raw/compressedDepth png_level 1" >
</node>
<node pkg="dynamic_reconfigure" type="dynparam" name="dynparam_forward" output="screen"
args="set /realsense_d435_forward/aligned_depth_to_color/image_raw/compressedDepth png_level 1" >
</node>
<!--Note: recording location consistent with the ORI Anymal wiki page:
https://wiki.oxfordrobots.com/display/DRS/Anymal-->
<node name="rosbag" pkg="rosbag" type="record"
args="-o $(env HOME)/logs/raw/anymal.bag
/rosout_agg
/anymal_highlevel_controller/actuator_commands
/anymal_lowlevel_controller/actuator_readings
/anymal_lowlevel_controller/actuator_readings_extended_throttled
/elevation_mapping/elevation_map
/loco_ros/desired_contact_force_lf
/loco_ros/desired_contact_force_lh
/loco_ros/desired_contact_force_rf
/loco_ros/desired_contact_force_rh
/loco_ros/desired_linear_acceleration_lf
/loco_ros/desired_linear_acceleration_lh
/loco_ros/desired_linear_acceleration_rf
/loco_ros/desired_linear_acceleration_rh
/loco_ros/desired_linear_velocty_lf
/loco_ros/desired_linear_velocty_lh
/loco_ros/desired_linear_velocty_rf
/loco_ros/desired_linear_velocty_rh
/loco_ros/desired_torso_acceleration
/loco_ros/desired_torso_angular_velocity
/loco_ros/desired_torso_linear_velocity
/loco_ros/dynamics/center_of_mass
/loco_ros/dynamics/inertia_ellipsoid
/loco_ros/foothold_polygon_line
/loco_ros/foothold_search_radius
/loco_ros/friction_cones
/loco_ros/friction_pyramids
/loco_ros/gait_patterns
/loco_ros/inverted_pendulum_footholds
/loco_ros/measured_contact_force_lf
/loco_ros/measured_contact_force_lh
/loco_ros/measured_contact_force_rf
/loco_ros/measured_contact_force_rh
/loco_ros/measured_foot_positions
/loco_ros/measured_mainbody_gravity_angular
/loco_ros/measured_mainbody_gravity_linear
/loco_ros/net_virtual_force
/loco_ros/net_virtual_torque
/loco_ros/planned_foot_positions
/loco_ros/planned_footholds
/loco_ros/polygon_footholds
/loco_ros/polygon_gridmap
/loco_ros/support_polygon
/loco_ros/swing_traj
/loco_ros/terrain_model
/loco_ros/torso
/loco_ros/virtual_force
/loco_ros/virtual_torque
/loco_ros/whole_body_com
/loco_ros/zero_one_footholds
/realsense_d435_forward/color/camera_info
/realsense_d435_forward/color/image_raw/compressed
/realsense_d435_forward/aligned_depth_to_color/camera_info
/realsense_d435_forward/aligned_depth_to_color/image_raw/compressedDepth
/realsense_d435/color/camera_info
/realsense_d435/color/image_raw/compressed
/realsense_d435/aligned_depth_to_color/camera_info
/realsense_d435/aligned_depth_to_color/image_raw/compressedDepth
/sensors/battery_voltage
/state_estimator/actuator_readings
/state_estimator/contact_force_lf_foot
/state_estimator/contact_force_lh_foot
/state_estimator/contact_force_rf_foot
/state_estimator/contact_force_rh_foot
/state_estimator/force_calibrator_commands
/state_estimator/global_localization_state
/state_estimator/imu
/state_estimator/init_pose_in_map
/state_estimator/joint_states
/state_estimator/log/EstimatorActuatorReadingsMisscount
/state_estimator/log/EstimatorActuatorReadingsPublisherMissCount
/state_estimator/log/EstimatorImuMissCount
/state_estimator/log/EstimatorImuPublisherMissCount
/state_estimator/log/EstimatorIterDurationMs
/state_estimator/log/EstimatorQuadrupedStatePublisherMissCount
/state_estimator/log/EstimatorQuadrupedStateThrottleMissCount
/state_estimator/log/EstimatorUpdateDurationMs
/state_estimator/log/imuAngularVelocityBias
/state_estimator/log/imuAngularVelocityBiasCovarianceDiagonal
/state_estimator/log/imuLinearAccelerationBias
/state_estimator/log/imuLinearAccelerationBiasCovarianceDiagonal
/state_estimator/pose_in_map
/state_estimator/pose_in_map_ga
/state_estimator/pose_in_odom
/state_estimator/quadruped_state
/state_estimator/twist
/state_estimator/use_pose_meas
/tf
/tf_static
/velodyne/point_cloud_filter/crop_box/parameter_descriptions
/velodyne/point_cloud_filter/crop_box/parameter_updates
/velodyne/point_cloud_filtered
/position_controller/current_goal
/position_controller/footstep_plan_request
/position_controller/footstep_plan_request_list
/position_controller/parameter_descriptions
/position_controller/parameter_updates
/position_controller/position_controller_cmd
/position_controller/remaining_goals
/position_controller/starting_pose
/position_controller/velocity_combined
/position_controller/velocity_goal
/position_controller/velocity_trackline
/position_controller/visualization_marker
/free_gait_action_loader/drs_steps/goal_pose
/free_gait_action_loader/drs_steps/goal_footstep_plan
/free_gait_action_loader/drs_steps/support_margin
/free_gait_action_loader/drs_steps/reached_pose
/free_gait_action_loader/drs_steps/goal_footstep_markers
/free_gait_action_loader/drs_steps/remaining_steps
/free_gait_action_loader/drs_walk/goal_pose
/free_gait_action_loader/drs_walk/remaining_steps
/goal
/locomotion_planner/current_goal
/drs_walk/current_goal
/multi_gait/current_execution_queue
/multi_gait/current_planner_queue
/multi_gait/drs_steps/goal_footstep_plan
/multi_gait/drs_steps/goal_footstep_plan_markers
/localization_manager/map_in_odom
/icp_tools/map_pose
/aicp/aligned_cloud
/aicp/aligned_map
/aicp/footstep_plan_request_list
/aicp/pose_corrected
/aicp/poses
/aicp/prior_map
/aicp/go_back_request
" output="screen">
</node>
</launch>
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment