run_policy: optional per-session rosbag (--task.debug.record-rosbag) - #181
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run_policy: optional per-session rosbag (--task.debug.record-rosbag)#181tomasz-lewicki wants to merge 2 commits into
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Spawns 'ros2 bag record --all' in its own process group for the lifetime of a run_policy run and SIGINTs it for a clean MCAP close on exit (Ctrl-C, normal completion, or error), then prints the bag's absolute path. Each run gets its own short, self-contained bag, so debugging one run no longer means hunting for a timestamp inside a long fleet-telemetry recording. Wrapped around policy.run() via a SessionRecorder context manager; no-op when the flag is off, and any failure to start recording is logged and swallowed so it can never take down the policy run. Output dir configurable via --task.debug.rosbag-dir (default ~/run_policy_bags).
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Juyue
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Does recording influence the inference latency?
Looks good to me as long as it works!
… pin Robot-local work captured from fmd-rccu-1: - DebugConfig.dry_run / dryer_run: run the loop without sending commands (dry_run) or without any bridge/hardware via a fabricated-state SyntheticInterface (dryer_run). - base.py: wire the synthetic interface for dryer_run; pin ONNX Runtime to a single intra-op thread so it stays off the isolated RT cores. - SessionRecorder: pin ros2 bag record to its own core (DebugConfig.rosbag_cpu, default 2) so it stops stealing cycles from the policy core.
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Records a
ros2 bag record --allfor the lifetime of onerun_policyrun and stops it (clean MCAP close) on Ctrl-C / completion / error, then prints the bag's absolute path.Each run gets its own short, self-contained bag — no more hunting for a timestamp inside a 30-min fleet-telemetry recording.
--task.debug.record-rosbag(dir via--task.debug.rosbag-dir, default~/run_policy_bags).