dig-bag-recording

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

1. Start recording with the helper script.
2. Run digging action(s).
3. Stop the recorder with Ctrl-C in the left record tmux pane.
4. 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