Recorder: runtime configurable URI name in snapshot mode

[gennartan]

Description

Add the possibility to configure the URI name at runtime for snapshot mode.

Related Issues

NA

Completion Criteria

• It is possible to start a recorder node with snapshot mode enabled and record multiple bag file with different names

Implementation Notes / Suggestions

Currently the writer is opened when initializing the recorder and its name is decided at the same time. Therefore it is not possible to configure it afterward. We should delay the opening of the writer to only open when required. However this is not as trivial as the writer also manages the cache.

From the usage point of view, I think it would be great to integrate the bag name with a path (relative or absolute) in the service Snapshot.srv. This would allow mulitple components to trigger snapshots with different trigger (we might want to have a snapshot on a failure, but sometimes also on other events).

It could also be great to make it possible to automatically append the filename with current date time. This would probably be easier to implement, but would make the name less deterministic, so I would prefer the previous suggestion.

Testing Notes / Suggestions

NA