rosbag_ringbuffer/src/rosbag_blackbox/config/example_config.yaml at 3bb24e37ea92cf4d17292078a8765ec9912cb62e · jabasai/rosbag_ringbuffer · GitHub

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# 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.

# ── Ring-buffer settings ────────────────────────────────────────────────────
buffer:
  duration_seconds: 10   # keep the last N seconds of messages in memory

# ── Snapshot output ─────────────────────────────────────────────────────────
snapshot:
  directory: /tmp/rosbag_blackbox_snapshots
  # Supported placeholders: {datetime}, {date}, {time}, {timestamp}
  name_pattern: "snapshot_{datetime}"

# ── 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:

  # ── Camera topics at max 10 Hz ─────────────────────────────────────────
  - pattern: "/camera/**"
    max_frequency: 10.0        # 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: 10

  # ── 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