#!/bin/sh

# record bag from cameras and velodyne, with corresponding
# maplanes, odometry, GPS and coordinate transforms

# run this with: roslaunch art_run sensory_overload.launch

BAGS=${ROS_HOME:-~/.ros}/bags/sensors
mkdir -p $BAGS

### NOTE: soon we need to start recording the new format...
#rosbag record -o $BAGS/velodyne /velodyne/packets &
rosbag record -o $BAGS/velodyne /velodyne/rawscan &

CAMERA1=/left_front/camera
CAMERA2=/right_front/camera

rosbag record -o $BAGS/camera \
        $CAMERA1/image_raw/compressed $CAMERA1/camera_info \
        $CAMERA2/image_raw/compressed $CAMERA2/camera_info &

exec robot-bag-core
