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Merged
merged 1 commit into from
Jan 20, 2021
Merged

Better support running from a local catkin workspace #755

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10 changes: 8 additions & 2 deletions subt_ign/launch/cloudsim_sim.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,12 @@
else
$circuit = circuit
end

if !defined?(logPath) || logPath == nil || logPath.empty?
$logPath = '/tmp/ign/logs'
else
$logPath = logPath
end
%>

<%
Expand Down Expand Up @@ -340,7 +346,7 @@
<record>
<enabled>true</enabled>
<!-- This path is used by cloudsim, please do not change -->
<path>/tmp/ign/logs</path>
<path><%= $logPath %></path>
<overwrite>true</overwrite>
</record>
<%if defined?(seed) && seed != nil && !seed.empty?%>
Expand Down Expand Up @@ -401,7 +407,7 @@
<logging>
<!-- Use the <path> element to control where to record the log file.
The HOME path is used by default -->
<path>/tmp/ign/logs</path>
<path><%= $logPath %></path>
<filename_prefix>subt_<%= $circuit %></filename_prefix>
<elevation_step_size>5</elevation_step_size>
</logging>
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3 changes: 2 additions & 1 deletion subt_ign/src/GameLogicPlugin.cc
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Expand Up @@ -696,7 +696,8 @@ void GameLogicPlugin::Configure(const ignition::gazebo::Entity & /*_entity*/,
// Setup a ros bag recorder.
rosbag::RecorderOptions recorderOptions;
recorderOptions.append_date=false;
recorderOptions.prefix="/tmp/ign/logs/cloudsim";
recorderOptions.prefix = ignition::common::joinPaths(
this->dataPtr->logPath, "cloudsim");
recorderOptions.regex=true;
recorderOptions.topics.push_back("/subt/.*");

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10 changes: 10 additions & 0 deletions subt_ros/src/SubtRosRelay.cc
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Expand Up @@ -240,7 +240,17 @@ SubtRosRelay::SubtRosRelay()
// http://docs.ros.org/en/noetic/api/rosbag/html/c++/record_8cpp_source.html
recorderOptions.max_size=1048576 * 1000;

// Prefix the rosbag file(s) name with a prefix composed of robot_data, the
// IGN_PARTITION (if set), and the list of robots that generate this data.
// This allows running multiple simulations of multiple robots even on
// local catkin workspace.
std::string part;
ignition::common::env("IGN_PARTITION", part);
recorderOptions.prefix="robot_data";
if (!part.empty())
recorderOptions.prefix += "_" + part;
recorderOptions.prefix += "_" + stringNames;

recorderOptions.regex=true;
recorderOptions.topics.push_back("/robot_data(.*)");

Expand Down