5d75a9d30d
- Add recording_manager node: continuous rosbag2 MCAP recorder, zstd compression, 500MB bag splitting, 10GB retention policy, 1Hz health monitoring and restart on subprocess exit - Add /rov/recording/active no-go gate to mission_executor START handler - Add rov-recording variable to cockpit_bridge (data lake visibility) - Replace foxglove_mcap ExecuteProcess with recording_manager Node - Register recording_manager entry point in setup.py - Confirmed: data: true on /rov/recording/active in full stack
80 lines
2.9 KiB
Python
80 lines
2.9 KiB
Python
"""
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foxglove_mcap.launch.py
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Launches foxglove_bridge (WebSocket :8765) and the recording_manager node.
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Included automatically by rov_full.launch.py.
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Standalone:
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ros2 launch rov_bringup foxglove_mcap.launch.py
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Foxglove connection from Edge PC:
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Foxglove Studio -> Open Connection -> Foxglove WebSocket -> ws://rov-brain.local:8765
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Recording:
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Managed by recording_manager node (rov_mission package).
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Bags written to /data/bags/dive_<timestamp>/ on NVMe.
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Create /data/bags before first launch if it does not exist:
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sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags
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Recording behaviour (DIR-9):
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- recording_manager starts ros2 bag record on node startup.
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- Records continuously, independent of mission state.
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- Publishes /rov/recording/active (Bool) — hard no-go gate for mission start.
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- Retention: deletes oldest dive_* dirs when /data free space < 10 GB.
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- MCAP format, zstd compression, 500 MB bag segments.
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"""
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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# -----------------------------------------------------------------------
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# Foxglove Bridge
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# Exposes all ROS2 topics over a WebSocket for Foxglove Studio.
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# Visualisation only — does NOT record MCAP (DIR-9).
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# Connect Foxglove Studio to: ws://rov-brain.local:8765
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# -----------------------------------------------------------------------
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foxglove_bridge_node = Node(
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package='foxglove_bridge',
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executable='foxglove_bridge',
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name='foxglove_bridge',
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parameters=[{
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# Listen on all interfaces — required when connecting over tether
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'port': 8765,
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'address': '0.0.0.0',
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# TLS disabled for LAN/tether use; enable for public internet
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'tls': False,
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# 10 MB send buffer — headroom for compressed image topics
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'send_buffer_limit': 10000000,
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# 10 Hz cap on topic updates — prevents WebSocket flooding on
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# high-rate topics (IMU, EKF at 50+ Hz) without dropping data
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# for operator-relevant topics (mission status, depth at ≤10 Hz)
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'max_update_ms': 100,
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}],
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output='screen',
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)
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# -----------------------------------------------------------------------
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# Recording Manager
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# Dedicated continuous recorder node (DIR-9).
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# Manages ros2 bag record subprocess internally.
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# Starts recording on node startup — before any mission can begin.
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# Publishes /rov/recording/active as the mission start no-go gate.
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# -----------------------------------------------------------------------
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recording_manager_node = Node(
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package='rov_mission',
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executable='recording_manager',
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name='recording_manager',
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output='screen',
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)
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return LaunchDescription([
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foxglove_bridge_node,
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recording_manager_node,
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])
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