example_config.yaml

# RosBag Blackbox – Example Configuration
#
# Copy and adapt this file; pass it to the node via:
#   ros2 run rosbag_blackbox ringbuffer_node \
#       --ros-args -p config_file:=/path/to/config.yaml
#
# Pattern syntax (zenoh-style):
#   *   matches exactly ONE path segment  (e.g. /camera/* → /camera/left)
#   **  matches ANY depth of namespace   (e.g. /camera/** → /camera/left/image_raw)
#
# Topic selectors (at least one must be provided per entry):
#   pattern: <glob>   – match by topic NAME using the syntax above
#   type:    <string> – match by message TYPE (exact, e.g. geometry_msgs/msg/Twist)
# Both keys may be combined; in that case BOTH conditions must hold.
#
# Buffer type (optional, default: memory):
#   buffer: memory  – keep messages in RAM (default, lowest latency)
#   buffer: file    – keep messages in a temporary file (reduces RAM usage;
#                     recommended for high-bandwidth topics like images)

# ── Ring-buffer settings ────────────────────────────────────────────────────
buffer:
  duration_seconds: 60   # keep the last N seconds of messages in memory

# ── Snapshot output ─────────────────────────────────────────────────────────
snapshot:
  directory: /tmp/rosbag_blackbox_snapshots
  # Supported placeholders: {datetime}, {date}, {time}, {timestamp}, {trigger}
  # {trigger} is 'auto' for automatic snapshots and 'manual' for service-triggered ones.
  name_pattern: "snapshot_{trigger}_{datetime}"

# ── Automatic (sliding-window) snapshots ─────────────────────────────────────
# When enabled, a snapshot is written every (duration_seconds - overlap_seconds).
# Consecutive snapshots therefore overlap by overlap_seconds, ensuring no data
# is lost between them.
auto_snapshot:
  enabled: true
  overlap_seconds: 10.0   # seconds of shared data between consecutive snapshots

# ── Node parameter snapshotting ───────────────────────────────────────────────
# When patterns is non-empty, the current ROS2 parameters of all active nodes
# whose fully-qualified name (/<namespace>/<node>) matches at least one pattern
# are collected asynchronously and written to node_params.yaml inside each
# snapshot directory.
# Pattern syntax is the same zenoh-style glob used for topics (see above).
node_params:
  patterns: ["/**"]            # e.g. ["/**"] to capture every node, ["/my_ns/*"] for a namespace
  collection_interval_seconds: 30.0   # how often to refresh the parameter cache

# ── Topic recording rules ────────────────────────────────────────────────────
# Rules are evaluated in order; the first matching pattern wins.
# If this section is empty (or the file is omitted), ALL discovered topics
# are recorded with the default (best-effort, volatile, depth=10) QoS.
topics:

  # ── All Camera topics at max 1 Hz ─────────────────────────────────────────
  - type: "sensor_msgs/msg/Image"
    buffer: file              # use a file-backed buffer to reduce RAM usage
    max_frequency: 1.0        # Hz  (omit or set to 0 for unlimited)
    qos:
      reliability: best_effort
      durability: volatile
      depth: 1

  # ── All Twist messages, whatever topic they appear on ──────────────────
  - type: "geometry_msgs/msg/Twist"
    max_frequency: 10.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 5

  # ── All Odometry messages, whatever topic they appear on ──────────────────
  - type: "nav_msgs/msg/Odometry"
    max_frequency: 10.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 5

  # ── All Lidar messages, whatever topic they appear on ──────────────────
  - type: "sensor_msgs/msg/LaserScan"
    max_frequency: 5.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 5

  # ── All GPS messages, whatever topic they appear on ──────────────────
  - type: "sensor_msgs/msg/NavSatFix"
    max_frequency: 5.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 5

  # ── All NavSatStatus messages, whatever topic they appear on ──────────────────
  - type: "sensor_msgs/msg/NavSatStatus"
    max_frequency: 1.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 5

  # ── TF / TF-static (reliable, higher depth) ────────────────────────────
  - pattern: "/tf"
    qos:
      reliability: reliable
      durability: volatile
      depth: 100

  - pattern: "/tf_static"
    qos:
      reliability: reliable
      # transient_local = "latched": the subscriber receives the last
      # message even when it joins after the publisher sent it.
      durability: transient_local
      depth: 1

  # ── Occupancy-grid map (latched, published rarely) ─────────────────────
  - pattern: "/map"
    qos:
      reliability: reliable
      durability: transient_local   # latched topic
      depth: 1

  # # ── LIDAR at 5 Hz ──────────────────────────────────────────────────────
  # - pattern: "/*/scan"
  #   max_frequency: 5.0
  #   qos:
  #     reliability: best_effort
  #     durability: volatile
  #     depth: 1

  # ── Catch-all: record every other topic at best-effort / low rate ───────
  - pattern: "/**"
    max_frequency: 5.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 10