Added talker.py and ability to bag files

src/bagger.py

@@ -23,8 +23,7 @@ class Bagger(object):
         else:
             bag_file = os.path.join(self.data_path, msg.data)
             self.proc = subprocess.Popen(["rosbag", "record",
-                "kinect2/depth_lowres/points", "kinect2/rgb_lowres/image",
-                "tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
+                "--all", "-o", bag_file], preexec_fn=os.setsid)
             self.pub.publish("STARTED")
         
 

src/bagger.py~

@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+import rospkg
+import subprocess
+import os
+import signal
+
+class Bagger(object):
+
+    def __init__(self):
+        rospy.init_node("bagger", anonymous=True)
+        rospy.Subscriber("bag_publisher", String, self.callback)
+        self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
+        self.proc = None
+        rospack = rospkg.RosPack()
+        self.data_path = os.path.join(rospack.get_path("rosbridge_GUI_example"), "data")
+
+    def callback(self, msg):
+        if msg.data == "STOP" and self.proc is not None:
+            os.killpg(self.proc.pid, signal.SIGINT)
+            self.pub.publish("STOPPED")
+        else:
+            bag_file = os.path.join(self.data_path, msg.data)
+            self.proc = subprocess.Popen(["rosbag", "record",
+                "kinect2/depth_lowres/points", "kinect2/rgb_lowres/image",
+                "tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
+            self.pub.publish("STARTED")
+        
+
+if __name__ == '__main__':
+    Bagger()
+    rospy.spin()

src/talker.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world %s" % rospy.get_time()
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass