From 7268886bfd3dfa1119f3e53ed975c3db8b915a3d Mon Sep 17 00:00:00 2001
From: HenryFarmX <henry@farmx.ag>
Date: Thu, 6 Aug 2026 10:37:08 -0700
Subject: [PATCH 1/4] Switched to mcap format logging with compression, options
 in /config/mcap_writer_options.yaml

---
 config/mcap_writer_options.yaml  | 4 ++++
 include/vb_util_lib/bag_logger.h | 1 +
 src/vb_util_lib/bag_logger.cpp   | 2 ++
 3 files changed, 7 insertions(+)
 create mode 100644 config/mcap_writer_options.yaml

diff --git a/config/mcap_writer_options.yaml b/config/mcap_writer_options.yaml
new file mode 100644
index 0000000..8a4cf74
--- /dev/null
+++ b/config/mcap_writer_options.yaml
@@ -0,0 +1,4 @@
+compression: "Zstd"
+compressionLevel: "Fastest"
+chunkSize: 786432
+noChunkCRC: true
\ No newline at end of file
diff --git a/include/vb_util_lib/bag_logger.h b/include/vb_util_lib/bag_logger.h
index a938a26..3304384 100644
--- a/include/vb_util_lib/bag_logger.h
+++ b/include/vb_util_lib/bag_logger.h
@@ -25,6 +25,7 @@
 
 
 #define DEFAULT_BAG_DIR "/var/log/amros/"
+#define MOUNTED_MEDIA_DIR "/mnt/usb/"
 #define DEFAULT_MEDIA_DIR "/media/amros"
 
 
diff --git a/src/vb_util_lib/bag_logger.cpp b/src/vb_util_lib/bag_logger.cpp
index 08c1c44..e55595b 100644
--- a/src/vb_util_lib/bag_logger.cpp
+++ b/src/vb_util_lib/bag_logger.cpp
@@ -173,6 +173,8 @@ void BagLogger::startLogging(std::string prefix, unsigned log_level)
 
     rosbag2_storage::StorageOptions storage_options;
     storage_options.uri = /*std::string("sqlite:///") +*/ file_name_;
+    storage_options.storage_id = "mcap";
+    storage_options.storage_config_uri = "/home/ubuntu/ros2_ws/src/am_utils/config/mcap_writer_options.yaml";
     writer_ = std::make_unique<rosbag2_cpp::Writer>();
     writer_->open(storage_options);
     printf("Opening bag file %s\n", file_name_.c_str());

From 99cc29b8a4eaf09a90af1c76476987ee2386b008 Mon Sep 17 00:00:00 2001
From: HenryFarmX <henry@farmx.ag>
Date: Mon, 19 Oct 2026 12:39:05 -0700
Subject: [PATCH 2/4] Removed hard coded path to mcap/compressed logging config
 yaml

---
 CMakeLists.txt                 | 3 +++
 src/vb_util_lib/bag_logger.cpp | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8496e5c..af96648 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,6 +143,9 @@ install(DIRECTORY include/
 install(DIRECTORY launch/
         DESTINATION share/${PROJECT_NAME}
     )
+install(DIRECTORY config
+        DESTINATION share/${PROJECT_NAME}
+    )
 install(
   TARGETS am_utils
   EXPORT am_utilsTargets
diff --git a/src/vb_util_lib/bag_logger.cpp b/src/vb_util_lib/bag_logger.cpp
index e55595b..8bae8fa 100644
--- a/src/vb_util_lib/bag_logger.cpp
+++ b/src/vb_util_lib/bag_logger.cpp
@@ -174,7 +174,7 @@ void BagLogger::startLogging(std::string prefix, unsigned log_level)
     rosbag2_storage::StorageOptions storage_options;
     storage_options.uri = /*std::string("sqlite:///") +*/ file_name_;
     storage_options.storage_id = "mcap";
-    storage_options.storage_config_uri = "/home/ubuntu/ros2_ws/src/am_utils/config/mcap_writer_options.yaml";
+    storage_options.storage_config_uri = ament_index_cpp::get_package_share_directory("am_utils") + "/config/mcap_writer_options.yaml";
     writer_ = std::make_unique<rosbag2_cpp::Writer>();
     writer_->open(storage_options);
     printf("Opening bag file %s\n", file_name_.c_str());

From 2d0770f3745e157ed2d7997cd2e417339e6bcf81 Mon Sep 17 00:00:00 2001
From: HenryFarmX <henry@farmx.ag>
Date: Mon, 19 Oct 2026 12:40:58 -0700
Subject: [PATCH 3/4] Removed unneccessary changes

---
 include/vb_util_lib/bag_logger.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/include/vb_util_lib/bag_logger.h b/include/vb_util_lib/bag_logger.h
index 3304384..a938a26 100644
--- a/include/vb_util_lib/bag_logger.h
+++ b/include/vb_util_lib/bag_logger.h
@@ -25,7 +25,6 @@
 
 
 #define DEFAULT_BAG_DIR "/var/log/amros/"
-#define MOUNTED_MEDIA_DIR "/mnt/usb/"
 #define DEFAULT_MEDIA_DIR "/media/amros"
 
 

From 31c197830e447703fa08a05250ed5d994b67f12e Mon Sep 17 00:00:00 2001
From: HenryFarmX <henry@farmx.ag>
Date: Mon, 19 Oct 2026 13:20:12 -0700
Subject: [PATCH 4/4] Added mcap dependencies

---
 CMakeLists.txt | 1 +
 package.xml    | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index af96648..22fcb91 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(dependencies
+  ament_index_cpp
 	brain_box_msgs
 	builtin_interfaces
 	camera_info_manager
diff --git a/package.xml b/package.xml
index 9cda0cf..32826e9 100644
--- a/package.xml
+++ b/package.xml
@@ -28,6 +28,7 @@
   <depend>rosbag2</depend>
   <depend>rosbag2_cpp</depend>
   <depend>rosbag2_storage</depend>
+  <depend>rosbag2_storage_mcap</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>stereo_msgs</depend>
@@ -36,6 +37,7 @@
   <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
   <depend>cv_bridge</depend>
+  <depend>ament_index_cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>