| name | dig-bag-recording |
| description | Start fast split rosbag recording for Mole dig/newton runs using the canonical `rosbag_record.launch.py` workflow. Use when you want separate bags for sensors, state, commands, lidar, camera (compressed image topics), elevation_map, and Dig3D special observations during digging experiments. |
Dig Bag Recording
Quick Start
~/.codex/skills/dig-bag-recording/scripts/dig_split_recording_tmux.sh \
--scenario dig_newton \
--attach
This creates a single run directory:
raw/sensors/raw/state/raw/commands/raw/lidar/raw/camera/ (compressed image topics)raw/elevation_map/raw/dig3d_special_obs/ for dig_3d* scenarios
Workflow
- Start recording with the helper script.
- Run digging action(s).
- Stop the recorder with
Ctrl-C in the left record tmux pane.
- Verify bag folders exist under the printed run directory.
Defaults
- tmux session/window:
ros:record
- workspace:
~/ros2_ws
- output root:
~/mcap/dig
- elevation topic:
/mole/elevation_map_filter
- compressed camera topic preference:
/hal/grpc_image_client/Main/image_raw/compressed- fallback also recorded by estimator utility:
/camMainView/image_raw/compressed
Useful Commands
Check recorder processes:
tmux list-panes -t ros:record -F '#{pane_index} #{pane_pid} #{pane_current_command}'
List generated bags:
find ~/rosbags/dig -maxdepth 3 -type f -name metadata.yaml | sort
Resource
- Script:
scripts/dig_split_recording_tmux.sh
