Mcap logging

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
@@ -143,6 +144,9 @@ install(DIRECTORY include/
 install(DIRECTORY launch/
         DESTINATION share/${PROJECT_NAME}
     )
+install(DIRECTORY config
+        DESTINATION share/${PROJECT_NAME}
+    )
 install(
   TARGETS am_utils
   EXPORT am_utilsTargets

config/mcap_writer_options.yaml

@@ -0,0 +1,4 @@
+compression: "Zstd"
+compressionLevel: "Fastest"
+chunkSize: 786432
+noChunkCRC: true

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>

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 = 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());