34 lines
1.1 KiB
Python
34 lines
1.1 KiB
Python
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#!/usr/bin/env python
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import rospy
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from std_msgs.msg import String
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import rospkg
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import subprocess
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import os
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import signal
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class Bagger(object):
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def __init__(self):
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rospy.init_node("bagger", anonymous=True)
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rospy.Subscriber("bag_publisher", String, self.callback)
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self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
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self.proc = None
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rospack = rospkg.RosPack()
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self.data_path = os.path.join(rospack.get_path("rosbridge_GUI_example"), "data")
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def callback(self, msg):
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if msg.data == "STOP" and self.proc is not None:
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os.killpg(self.proc.pid, signal.SIGINT)
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self.pub.publish("STOPPED")
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else:
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bag_file = os.path.join(self.data_path, msg.data)
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self.proc = subprocess.Popen(["rosbag", "record",
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"kinect2/depth_lowres/points", "kinect2/rgb_lowres/image",
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"tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
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self.pub.publish("STARTED")
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if __name__ == '__main__':
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Bagger()
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rospy.spin()
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