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recorder_node_params.yaml
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/
recorder_node_params.yaml
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recorder_params_node:
ros__parameters:
use_sim_time: false
record:
all_topics: true
all_services: true
is_discovery_disabled: true
topics: ["topic", "other_topic"]
topic_types: ["std_msgs/msg/Header", "geometry_msgs/msg/Pose"]
exclude_topic_types: ["sensor_msgs/msg/Image"]
services: ["service", "other_service"]
rmw_serialization_format: "cdr"
topic_polling_interval:
sec: 0
nsec: 10000000
regex: "[xyz]/topic"
exclude_regex: "(.*)"
exclude_topics: ["exclude_topic", "other_exclude_topic"]
exclude_services: ["exclude_service", "other_exclude_service"]
node_prefix: "prefix"
compression_mode: "stream"
compression_format: "h264"
compression_queue_size: 10
compression_threads: 2
compression_threads_priority: -1
qos_profile_overrides_path: ""
include_hidden_topics: true
include_unpublished_topics: true
ignore_leaf_topics: false
start_paused: false
disable_keyboard_controls: true
storage:
uri: "path/to/some_bag"
storage_id: "sqlite3"
storage_config_uri: ""
max_bagfile_size: 2147483646
max_bagfile_duration: 2147483646
max_cache_size: 989888
storage_preset_profile: "none"
snapshot_mode: false
custom_data: ["key1=value1", "key2=value2"]
start_time_ns: 0
end_time_ns: 100000