This answer is in Python but you could use something for Matlab. The source of the code:
https://gist.github.com/marco-tranzat...
#!/usr/bin/env python
import rospy
import subprocess
import os
import signal
class RosbagRecord:
def __init__(self):
if rospy.has_param('~record_script') and rospy.has_param('~record_folder'):
self.record_script = rospy.get_param('~record_script')
self.record_folder = rospy.get_param('~record_folder')
rospy.on_shutdown(self.stop_recording_handler)
# Start recording.
command = "source " + self.record_script
self.p = subprocess.Popen(command, stdin=subprocess.PIPE, shell=True, cwd=self.record_folder,
executable='/bin/bash')
# Wait for shutdown signal to close rosbag record
rospy.spin()
else:
rospy.signal_shutdown(rospy.get_name() + ' no record script or folder specified.')
def terminate_ros_node(self, s):
# Adapted from http://answers.ros.org/question/10714/start-and-stop-rosbag-within-a-python-script/
list_cmd = subprocess.Popen("rosnode list", shell=True, stdout=subprocess.PIPE)
list_output = list_cmd.stdout.read()
retcode = list_cmd.wait()
assert retcode == 0, "List command returned %d" % retcode
for str in list_output.split("\n"):
if (str.startswith(s)):
os.system("rosnode kill " + str)
def stop_recording_handler(self):
rospy.loginfo(rospy.get_name() + ' stop recording.')
self.terminate_ros_node("/record")
if __name__ == '__main__':
rospy.init_node('rosbag_record')
rospy.loginfo(rospy.get_name() + ' start')
# Go to class functions that do all the heavy lifting. Do error checking.
try:
rosbag_record = RosbagRecord()
except rospy.ROSInterruptException:
pass
It can be used as ROS node, so once you reach the goal, then you can publish to stop recording. I searched in prior answers and couldn't find something more concise to do this. Hope this helps.
