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1bag_recorder_node:
2 ros__parameters:
3 # Server Configuration
4 server_port: 8080
5 enable_cors: true
6
7 # SSL Configuration (optional)
8 ssl_cert_file: ""
9 ssl_key_file: ""
10
11 # Recording Configuration
12 output_directory: "/tmp/rosbags"
13 default_storage_id: "sqlite3"
14 default_serialization_format: "cdr"
15 max_bagfile_size: 0 # 0 means no limit (bytes)
16 max_bagfile_duration: 0.0 # 0 means no limit (seconds)
17
18 # Topic Discovery Settings
19 topic_discovery_interval: 5.0 # seconds
20
21 # WebSocket Configuration
22 websocket_ping_interval: 30.0 # seconds
23 max_websocket_connections: 10
24
25 # Recording Quality Settings
26 compression_mode: "none" # "none", "file", "message"
27 compression_format: "" # "zstd", etc.
28
29 # Logging Configuration
30 log_level: "info" # "debug", "info", "warn", "error"
31
32 # Static File Serving
33 static_files_path: "./frontend/dist"
34
35 # Recording Limits
36 max_recording_duration: 3600.0 # 1 hour max recording (seconds)
37 max_concurrent_recordings: 1
38
39 # Default Topic Filters
40 default_excluded_topics:
41 - "/rosout"
42 - "/rosout_agg"
43 - "/parameter_events"
44 - "/robot_description"
45
46 # QoS Settings
47 default_qos_reliability: "reliable" # "reliable", "best_effort"
48 default_qos_durability: "volatile" # "volatile", "transient_local"
49 default_qos_history: "keep_last" # "keep_last", "keep_all"
50 default_qos_depth: 10