#!/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

PREFIX=$1
if [ "$PREFIX" != "" ]
then PREFIX="${PREFIX}_"
fi

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

### start recording the new format...
rosbag record -o $BAGS/${PREFIX}velodyne /velodyne_packets &

### collect Sick data (if any)
rosbag record -o $BAGS/${PREFIX}sicks /front_sick /rear_sick &

CAMERA1=/left_front/camera
CAMERA2=/center_front/camera
CAMERA3=/right_front/camera

rosbag record -o $BAGS/${PREFIX}camera \
        $CAMERA1/image_raw/compressed $CAMERA1/camera_info \
        $CAMERA2/image_raw/compressed $CAMERA2/camera_info \
        $CAMERA3/image_raw/compressed $CAMERA3/camera_info &

exec robot-bag-core ${PREFIX}
