Fixed king_engine dependencies. Changed save rate on multibagger.py

Author: wimos-ai

.gitignore

@@ -42,4 +42,6 @@ __pycache__/
 # Ros build files
 build/
 log/ 
-install/
+install/
+
+rosbag*

src/king_engine/package.xml

@@ -9,15 +9,9 @@
 
   <depend>rclcpp</depend>
   <depend>custom_types</depend>
-  <!-- <depend>direct_lidar_odometry</depend> -->
   <depend>geometry_msgs</depend>
   <exec_depend>ros2launch</exec_depend>
-  <depend>path_plan</depend> 
-  <depend>rio_interface</depend>
   <depend>sick_scan_xd</depend>
-  <depend>traversal</depend>
-  <depend>sick_perception</depend>
-  <depend>video_publisher</depend>
   <depend>std_msgs</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

src/scripts/multibagger.py

@@ -7,7 +7,7 @@
 TOPICS="/cloud_all_fields_fullframe /filtered_imu /filtered_cloud /ImageRight /ImageLeft /ImageCenter"
 ROS_BAG_PROC_INIT = ["ros2", "wtf", "bag", "record", TOPICS, "--compression-mode", "file", "--compression-format", "zstd"]
 
-SECONDS_PER_BAG = 10
+SECONDS_PER_BAG = 270
 OVERLAP_SECONDS = 5
 
 recorders = []

startup.sh

@@ -0,0 +1,8 @@
+colcon build --executor parallel
+source ./install/setup.bash
+ros2 launch king_engine lance.launch.py &
+source ./src/scripts/recorder.bash &
+python3 ./src/scripts/multibagger.py &
+sudo motion  
+echo "Go to 10.11.11.13:8080 For camera views."
+echo "DONE!"