feat: add autoware_rosbag_recorder packages (autowarefoundation#98)

* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit ac428d4af68ef0b51992d31f692dd9aae9a4a944. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Unify Apache-2.0 license name (autowarefoundation#1242) * Port autoware rosbag recorder to ros2 (autowarefoundation#1569) * Port autoware rosbag recorder to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update record.sh Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add shellcheck (autowarefoundation#2079) * Add shellcheck Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix shellcheck Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove COLCON_IGNORE (autowarefoundation#510) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/add readme common pkg (autowarefoundation#567) * add description to global paraemeter loader * add readme to rosbag recorde * fix typo Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Fix Format Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Clarify the description Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Fix Typo Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * proper description Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * fix topic name * fix topic name Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
TakumiKozaka-T4 · Dec 6, 2021 · a200fa4 · a200fa4
1 parent 94904a5
commit a200fa4
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -34,15 +34,15 @@ repos:
       - id: prettier-package-xml
       - id: sort-package-xml
 
-  - repo: https://github.com/gruntwork-io/pre-commit
-    rev: v0.1.17
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.8.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
     rev: v3.4.1-1
     hooks:
-      - id: shfmt-docker
+      - id: shfmt
 
   - repo: https://github.com/pycqa/isort
     rev: 5.10.1

diff --git a/common/autoware_rosbag_recorder/CMakeLists.txt b/common/autoware_rosbag_recorder/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_rosbag_recorder)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
+
+install(PROGRAMS
+  scripts/record.sh
+  DESTINATION lib/${PROJECT_NAME}
+)
diff --git a/common/autoware_rosbag_recorder/Readme.md b/common/autoware_rosbag_recorder/Readme.md
@@ -0,0 +1,21 @@
+# Autoware Rosbag Recorder
+
+This package is to record ros2 bag with desired topic.
+
+## Usage
+
+Here is a usage below.
+
+```sh
+ros2 run autoware_rosbag_recorder record.sh [-o filename]
+```
+
+If you want some other topics to record, you need to modify below in record.sh as an example.
+
+```sh
+  ros2 bag record -e "(.*)/velodyne_packets|/pacmod_interface/(.*)|/pacmod/(.*)|/vehicle/(.*)|/sensing/imu/(.*)|/sensing/gnss/(.*)|/sensing/camera/(.*)/camera_info|/sensing/camera/(.*)/compressed|/perception/object_recognition/detection/rois(.)|/perception/object_recognition/objects" -o "$OPTARG";
+```
+
+## Assumptions / Known limits
+
+Recording all topics in autoware is very heavy so usually you need to avoid points cloud topics to record.
diff --git a/common/autoware_rosbag_recorder/package.xml b/common/autoware_rosbag_recorder/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>autoware_rosbag_recorder</name>
+  <version>0.1.0</version>
+  <description>The autoware_rosbag_recorder package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/common/autoware_rosbag_recorder/scripts/record.sh b/common/autoware_rosbag_recorder/scripts/record.sh
@@ -0,0 +1,21 @@
+#!/bin/sh
+
+usage_exit() {
+	echo "Usage: ros2 run autoware_rosbag_recorder record.sh [-o filename]" 1>&2
+	exit 1
+}
+
+while getopts o:h OPT; do
+	case $OPT in
+	"o") echo "record as $OPTARG" ;;
+	"h") usage_exit ;;
+	"*") usage_exit ;;
+	\?) usage_exit ;;
+	esac
+done
+
+if [ -n "$OPTARG" ]; then
+	ros2 bag record -e "(.*)/velodyne_packets|/pacmod_interface/(.*)|/pacmod/(.*)|/vehicle/(.*)|/sensing/imu/(.*)|/sensing/gnss/(.*)|/sensing/camera/(.*)/camera_info|/sensing/camera/(.*)/compressed|/perception/object_recognition/detection/rois(.)|/perception/object_recognition/objects" -o "$OPTARG"
+else
+	usage_exit
+fi