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Interactive CLI and ROS 2 autostart logger for recording ROS 2 bags and transferring files over TCP.

Highlights

• Interactive menu when running agi-logger without arguments.
• Foreground recording with full rosbag output (Ctrl+C stops recording cleanly).
• Config-driven defaults from cfg/configs.yaml with an interactive editor.
• Settings editor split into Logger and TCP (Server/Client) sections with colorized output.
• TCP transfer automatically blocked while logging is active.
• ROS 2 autostart node that listens to /fmu/out/vehicle_status and starts recording on arming.
• Interactive bag playback selector with arrow-key list and q to stop playback.
• Optional background recording via --background.

Quick start

• Install (editable):

  cd /workspaces/logging/src/agi_logger
  pip install -e .

• Ensure ROS 2 and px4_msgs are installed and your ROS environment is sourced.
• Open interactive menu: agi-logger
• Show CLI help: agi-logger --help
• Start recording (foreground): agi-logger record start
• Start recording in background: agi-logger record start --background
• Stop background recording: agi-logger record stop
• Show status (background only): agi-logger record status
• Start ROS 2 autostart node: agi-logger ros2 autostart
• Open settings menu: agi-logger settings
• Play a bag (interactive list): agi-logger play

Configuration defaults are loaded from cfg/configs.yaml.

Interactive menu

Running agi-logger without arguments shows:

• Record: previews logger settings, then Enter = start / e = edit logger settings.
• Transfer: choose server/client, preview settings, then Enter = start / e = edit that section.
• Play: arrow-key list of bag directories under logger.bag_path.
• Settings: opens the editor directly.

Settings editor

• Logger settings: edit only the logger section values.
• TCP settings: choose Server or Client sections.
• Enter at value prompt keeps current value; Enter at selection list goes back.

ROS 2 autostart node

Starts recording when auto_start is true and the vehicle is armed (PX4 VehicleStatus).

• Run: agi-logger ros2 autostart

TCP transfer

Uses the config values in cfg/configs.yaml.

• Server: agi-logger tcp send
• Client: agi-logger tcp receive
• Auto mode: agi-logger tcp run (respects tcp_file_communication.mode)

TCP transfer is disabled while recording is active.

Bag playback

agi-logger play opens a scrollable list of bag directories under logger.bag_path.

• Use UP/DOWN to select, Enter to play, c to change directory, q to go back.
• During playback, q stops playback and returns to the list. Built-in rosbag controls (space, arrows) remain available.

Bash scripts

The repository includes legacy scripts for reference:

• bags/bag_record.sh: timed rosbag recorder with MCAP, compression, QoS overrides, max size, and per-bag metadata.
• bags/play_bags.sh: loops through timed_bag_* directories and plays them in order.

Example usage:

• bash bags/bag_record.sh /topic1 /topic2 --name=run1 --path=~/bags --mcap --compress
• bash bags/play_bags.sh