Add bag recorder services (#3)

* Switched from gitlab to github branch

* Added separate bag name field

---------

Co-authored-by: Dhruv Tyagi <dhruv@polymathrobotics.com>

Author: dhruvtya

CMakeLists.txt

@@ -53,9 +53,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ListVehicleOptions.srv"
   "srv/ListPathLogicOptions.srv"
   "srv/ListReferenceTargets.srv"
-  "srv/ManageMapDataRecording.srv"
   "srv/GenerateOfflineMap.srv"
   "srv/LoadMap.srv"
+  "srv/StartBagRecording.srv"
+  "srv/StopBagRecording.srv"
+  "srv/GetBagRecordingStatus.srv"
   DEPENDENCIES ${dependencies}
 )
 

srv/GetBagRecordingStatus.srv

@@ -0,0 +1,22 @@
+## Request
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error
+
+# Current recording status
+bool is_recording
+
+# Name of the currently recording bag file (empty if not recording)
+string bag_name
+
+# Time elapsed since the start of current recording in seconds (0 if not recording)
+uint16 time_elapsed
+
+# List of topics included/excluded in the current recording
+string recorded_topics

srv/ManageMapDataRecording.srv

@@ -0,0 +1,25 @@
+## Request
+
+# Bag file suffix (optional, recommended)
+string bag_suffix
+
+# The following fields will be checked for data in-order (optional)
+string[] include_topics
+string[] exclude_topics
+string topic_profile
+
+# Record for pre-set time duration in seconds (optional)
+# Default 0: record until manually stopped or max time limit reached
+uint8 record_duration
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Bag file name (excluding path)
+string bag_name
+
+# Error messages
+string error

srv/StartBagRecording.srv

@@ -0,0 +1,13 @@
+## Request
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Bag file name (excluding path)
+string bag_name
+
+# Error messages
+string error