From 559f60dfd86b632be3ccb5a183dd978fdb79984b Mon Sep 17 00:00:00 2001
From: Grant <grant@symbytech.com>
Date: Thu, 7 May 2026 08:26:26 +0000
Subject: [PATCH] feat(bringup): add foxglove_bridge and MCAP recording

---
 .../launch/foxglove_mcap.launch.py            | 74 +++++++++++++++++++
 src/rov_bringup/launch/rov_full.launch.py     |  7 ++
 src/rov_bringup/package.xml                   |  1 +
 3 files changed, 82 insertions(+)
 create mode 100644 src/rov_bringup/launch/foxglove_mcap.launch.py

diff --git a/src/rov_bringup/launch/foxglove_mcap.launch.py b/src/rov_bringup/launch/foxglove_mcap.launch.py
new file mode 100644
index 0000000..306ead2
--- /dev/null
+++ b/src/rov_bringup/launch/foxglove_mcap.launch.py
@@ -0,0 +1,74 @@
+"""
+foxglove_mcap.launch.py
+Launches foxglove_bridge (WebSocket :8765) and MCAP bag recording.
+Included automatically by rov_full.launch.py.
+
+Standalone:
+  ros2 launch rov_bringup foxglove_mcap.launch.py
+  ros2 launch rov_bringup foxglove_mcap.launch.py record:=false
+
+Foxglove connection from Edge PC:
+  Foxglove Studio -> Open Connection -> Foxglove WebSocket -> ws://rov-brain.local:8765
+
+Storage:
+  Bags written to /data/bags/ on NVMe. Create before first launch:
+    sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags
+"""
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, LogInfo
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    bag_output_arg = DeclareLaunchArgument(
+        'bag_output_dir',
+        default_value='/data/bags/dive',
+        description='Base path for MCAP bag. Timestamp appended automatically.',
+    )
+
+    record_arg = DeclareLaunchArgument(
+        'record',
+        default_value='true',
+        description='Set false to run foxglove_bridge without recording.',
+    )
+
+    # Exposes all ROS2 topics over WebSocket
+    # Edge PC connects via Foxglove Studio -> ws://rov-brain.local:8765
+    foxglove_bridge_node = Node(
+        package='foxglove_bridge',
+        executable='foxglove_bridge',
+        name='foxglove_bridge',
+        parameters=[{
+            'port': 8765,
+            'address': '0.0.0.0',           # all interfaces — required for tether access
+            'tls': False,
+            'send_buffer_limit': 10000000,  # 10MB — headroom for image topics
+            'max_update_ms': 100,           # 10Hz cap — prevents WebSocket flooding
+        }],
+        output='screen',
+    )
+
+    # Records all topics to NVMe in MCAP format (Foxglove native)
+    # Output dir is auto-timestamped, e.g.: /data/bags/dive_2026_05_07-14_22_05/
+    mcap_recorder = ExecuteProcess(
+        cmd=[
+            'ros2', 'bag', 'record',
+            '--all',
+            '--storage', 'mcap',
+            '--output', LaunchConfiguration('bag_output_dir'),
+            '--max-bag-size', '0',          # no size limit — one bag per dive
+        ],
+        output='screen',
+        condition=IfCondition(LaunchConfiguration('record')),
+    )
+
+    return LaunchDescription([
+        bag_output_arg,
+        record_arg,
+        LogInfo(msg='foxglove_bridge: connect Foxglove Studio to ws://<RPi5-IP>:8765'),
+        foxglove_bridge_node,
+        mcap_recorder,
+    ])
diff --git a/src/rov_bringup/launch/rov_full.launch.py b/src/rov_bringup/launch/rov_full.launch.py
index 4ce5d8a..0f5e772 100644
--- a/src/rov_bringup/launch/rov_full.launch.py
+++ b/src/rov_bringup/launch/rov_full.launch.py
@@ -79,4 +79,11 @@ def generate_launch_description():
                 os.path.join(mission_pkg, 'launch', 'mission.launch.py')
             ),
         ),
+
+        # Foxglove bridge + MCAP recording (Prong 2 + 3)
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(bringup_pkg, 'launch', 'foxglove_mcap.launch.py')
+            ),
+        ),
     ])
diff --git a/src/rov_bringup/package.xml b/src/rov_bringup/package.xml
index d983ca1..a31a3c3 100644
--- a/src/rov_bringup/package.xml
+++ b/src/rov_bringup/package.xml
@@ -14,4 +14,5 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
+  <exec_depend>foxglove_bridge</exec_depend>
 </package>