Ros2 Bag Utility

ROS2 Bag Utility Skill

This skill provides guides for programmatic data recording (rosbag2) and replay mechanism adhering to Clean Architecture.

Domain Layer

Defines the interface for recording and playback control.

# domain/interfaces/data_recorder.py
class IDataRecorder(ABC):
    @abstractmethod
    def start_recording(self, config: RecordingConfig) -> bool:
        pass

    @abstractmethod
    def stop_recording(self) -> None:
        pass

Infrastructure Layer (Python)

See previous Python example using rosbag2_py.

Infrastructure Layer (C++)

Using rosbag2_cpp library.