This is a tiny toy for ros2 bag record. If you have troubles making ros2 bag record with limited topics from many topics, try this.

Requirements

• flask
• ROS2

My test environment is:

• Ubuntu 22.04 (on x64 Hardware)
• ROS2 Humble
• flask installed by apt install python3-flask
• Firefox

How to Use

1. git clone or just download this repository.
2. launch a terminal, source ROS2 setup.bash and navigate to the cloned directory
3. run python app.py
4. open localhost:5000 with a browser

Behind the scenes

Inside app.py, environmental variables of the terminal are taken over and ros2 topic list is called. Then the topics are categorized by their top-level namespace (we assume Autoware.universe), like...

• control
  • /control/command/control_cmd
  • /control/command/emergency_cmd
  • /control/command/gear_cmd
  • /control/command/hazard_lights_cmd
  • ...
• perception
  • /perception/object_recognition/detection/centerpoint/objects
  • /perception/object_recognition/detection/centerpoint/validation/objects
  • /perception/object_recognition/detection/clustering/clusters
  • /perception/object_recognition/detection/clustering/concat_downsampled_pcl/input/twist
  • ...
• ...