rosbag recording to file

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   genmsg
   rosbag
+  roslib
 )
 
 
@@ -170,7 +171,7 @@ generate_messages(
 catkin_package(
   INCLUDE_DIRS include ${MY_LIB_PATH_INC} # GUI -- include headers from GUI in package
   LIBRARIES
-  CATKIN_DEPENDS roscpp rospy std_msgs rosbag
+  CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
   DEPENDS
 )
 

pps_ws/src/d_fall_pps/launch/Crazyflie.launch

@@ -25,10 +25,7 @@
 
 	<node pkg="rqt_plot" name="commandplotter" type="rqt_plot" args="/PPSClient/ControlCommand/roll /PPSClient/ControlCommand/pitch /PPSClient/ControlCommand/yaw" />
 
-        <node pkg="rosbag" type="record" name="testbag" />
-
-
-	<!-- When we have a GUI, this has to be adapted and included -->
+   	<!-- When we have a GUI, this has to be adapted and included -->
 	<node pkg="d_fall_pps" name="my_GUI" output="screen" type="my_GUI">
 		<!-- <rosparam command="load" file="$(find d_fall_pps)/launch/ControlParams.yaml" /> -->
 	</node>

pps_ws/src/d_fall_pps/package.xml

@@ -45,10 +45,12 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>genmsg</build_depend>
   <build_depend>rosbag</build_depend>
+  <build_depend>roslib</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>rosbag</run_depend>
+  <run_depend>roslib</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

pps_ws/src/d_fall_pps/src/PPSClient.cpp

@@ -18,6 +18,7 @@
 #include <stdlib.h>
 #include <rosbag/bag.h>
 #include <std_msgs/String.h>
+#include <ros/package.h>
 
 #include "d_fall_pps/Controller.h"
 #include "d_fall_pps/CentralManager.h"
@@ -26,6 +27,7 @@
 #include "d_fall_pps/ControlCommand.h"
 #include "d_fall_pps/CrazyflieContext.h"
 #include "std_msgs/Int32.h"
+#include "std_msgs/UInt32.h"
 
 #include "d_fall_pps/ControlCommand.h"
 
@@ -133,21 +135,29 @@ void viconCallback(const ViconData& data) {
 		else{
 			safetyDelay=20;
 		}
-
-		controlCommandPublisher.publish(controllerCall.response.controlOutput);
+		*/
 		
-		std_msgs::String str;
-		str.data = std::string("foo");
+
+/*
+float32 roll
+float32 pitch
+float32 yaw
+uint16 motorCmd1
+uint16 motorCmd2
+uint16 motorCmd3
+uint16 motorCmd4
+*/		
+		std_msgs::UInt32 i;
+		i.data = controllerCall.response.controlOutput.roll;
 		
-		std_msgs::Int32 i;
-		i.data = 42;
 
-		bag.write("testfoo: ", ros::Time::now(), str);
-		bag.write("test42: ", ros::Time::now(), i);
-		*/
+		bag.write("test: ", ros::Time::now(), controllerCall.response.controlOutput);
+		
 
 		controlCommandPublisher.publish(controllerCall.response.controlOutput);
-		} else{ //crazyflie disabled
+			
+			
+		} else { //crazyflie disabled
 			ControlCommand zeroOutput = ControlCommand(); //everything set to zero
 			zeroOutput.onboardControllerType = 2; //set to motor_mode
 			controlCommandPublisher.publish(zeroOutput);
@@ -255,9 +265,14 @@ int main(int argc, char* argv[]){
 	usingSafeController = true;
 	loadSafeController();
 
-	
-	bag.open("testbag.bag", rosbag::bagmode::Write);
+	std::string package_path;
+	package_path = ros::package::getPath("d_fall_pps") + "/";
+	ROS_INFO_STREAM(package_path);
+	std::string testbag_file = package_path + "datarecord.bag";
+	bag.open(testbag_file, rosbag::bagmode::Write);
+	//bag.close();
 
     ros::spin();
-    return 0;
+    //ros::shutdown();
+	return 0;
 }