From b8c34c31a09b31f2d43f0fa68a536ef79f9991d6 Mon Sep 17 00:00:00 2001
From: Anish_deva <51463994+adev4a@users.noreply.github.com>
Date: Fri, 1 Nov 2024 13:28:11 -0400
Subject: [PATCH] Arc 231 fix ros2 bag record (#2453)

* set shell false

* add subscriber qos transient local topics

* add topic profile overrides
---
 carma/config/rosbag2_qos_overrides.yaml | 31 +++++++++++++++++++++++++
 carma/launch/ros2_rosbag.launch.py      |  5 +++-
 2 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/carma/config/rosbag2_qos_overrides.yaml b/carma/config/rosbag2_qos_overrides.yaml
index fd41b43142..1616bc7793 100644
--- a/carma/config/rosbag2_qos_overrides.yaml
+++ b/carma/config/rosbag2_qos_overrides.yaml
@@ -1,7 +1,38 @@
 ## This file defines Quality of Service settings for subscribers created in rosbag2 recording.
 ## Topics defined here have multiple publishers with different QoS settings which may lead to the rosbag ignoring messages.
 ## The QoS settings defined here give the subscriber less restrictive settings, so all messages from the topic are retained.
+
 /rosout:
   history: keep_all
   reliability: reliable
   durability: volatile
+
+/environment/lanelet2_map_viz:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
+
+/environment/lanelet_map_bin:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
+
+/localization/map_param_loader/georeference:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
+
+/localization/points_map:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
+
+/message/incoming_geofence_control:
+  history: keep_last
+  reliability: reliable
+  durability: transient_local
+  depth: 1
\ No newline at end of file
diff --git a/carma/launch/ros2_rosbag.launch.py b/carma/launch/ros2_rosbag.launch.py
index 1a638e9ad5..2ab9dc23af 100644
--- a/carma/launch/ros2_rosbag.launch.py
+++ b/carma/launch/ros2_rosbag.launch.py
@@ -65,7 +65,10 @@ def record_ros2_rosbag(context: LaunchContext, vehicle_config_param_file, rosbag
                             exclude_topics_regex += str(topic) + "|"
 
                 proc = ExecuteProcess(
-                        cmd=['ros2', 'bag', 'record', '-s', 'mcap', '--qos-profile-overrides-path', overriding_qos_profiles, '-o', '/opt/carma/logs/rosbag2_' + str(datetime.now().strftime('%Y-%m-%d_%H%M%S')), '-a', '-x', exclude_topics_regex],
+                        cmd=['ros2', 'bag', 'record', '-a', '-s', 'mcap',
+                            '--qos-profile-overrides-path', overriding_qos_profiles,
+                            '-o', '/opt/carma/logs/rosbag2_' + str(datetime.now().strftime('%Y-%m-%d_%H%M%S')),
+                            '-x', exclude_topics_regex],
                         output='screen',
                         shell='true'
                     )