Feat : #1 rosbag feature update

auto launch rviz feature
bag_play.launch file take most recent bag file in bag folder


Former-commit-id: a6705a86fd66f5fd2d1c849dc2ef195404ab9d8f

launch/bag_play.launch

@@ -1,13 +1,18 @@
-<!-- -->
+<!-- bag_filename를 인수로 주고 bag 파일을 재생, monitoring을 위한 rviz도 제공 -->
 
 <launch>
-  <arg name="bag_filename" default="default"/>
+  <arg name="bag_filename" 
+  default="$(eval max(eval ('_' + '_import_' + '_(\'glob\')').glob(find('zzangdol_bringup')+'/bag/*'), key=eval ('_' + '_import_' + '_(\'os\')').path.getctime))"/>
+  <!-- most recent bag file as bag_file -->
 
   <param name="/use_sim_time" value="true" />
 
   <include file="$(find zzangdol_bringup)/launch/zzangdol_state_publisher.launch"/>
 
   <node name="playbag" pkg="rosbag" type="play"
-      args="$(find zzangdol_bringup)/bag/$(arg bag_filename).bag --pause --clock "/>
+      args="$(arg bag_filename) --pause --clock "/>
+
+  <node name="$(anon rviz)" pkg="rviz" type="rviz" required="false"
+    args="-d $(find zzangdol_bringup)/rviz/record_monitoring.rviz" />
 
 </launch>

launch/bag_record.launch

@@ -1,13 +1,19 @@
 <!-- 
-  
+  zzangdol_bring_minimal와 함께 하나의 launch 파일로 바로 record
 -->
 
 <launch>
   <arg name="usb_config" default="false"/>
   <arg name="bag_filename" default="$(eval eval ('_' + '_import_' + '_(\'datetime\')').datetime.now().strftime('%Y-%m-%d_%H:%M:%S'))"/>
 
-  <include file="$(find zzangdol_bringup)/launch/zzangdol_bring_minimal.launch"/>
 
-  <node name="rviz" pkg="rviz" type="rviz" required="false"
+  <include file="$(find zzangdol_bringup)/launch/zzangdol_bring_minimal.launch">
+    <arg name="rviz" default="false"/>
+  </include>
+
+  <node pkg="rosbag" type="record" name="bag_record" required="true" 
+    args="/imu/data /scan -O $(find zzangdol_bringup)/bag/$(arg bag_filename).bag  "/>
+
+  <node name="$(anon rviz)" pkg="rviz" type="rviz" required="false"
     args="-d $(find zzangdol_bringup)/rviz/record_monitoring.rviz" />
 </launch>

launch/zzangdol_bring_all.launch

@@ -3,7 +3,6 @@
 -->
 
 <launch>
-  <arg name="multi_robot_name" default=""/>
   <arg name="usb_config" default="false"/>
 
 

launch/zzangdol_bring_minimal.launch

@@ -4,8 +4,8 @@
 -->
 
 <launch>
-  <arg name="multi_robot_name" default=""/>
   <arg name="usb_config" default="false"/>
+  <arg name="rviz" default="true"/>
 
   <!-- 1. bringup HW state tf publisher-->
   <include file="$(find zzangdol_bringup)/launch/zzangdol_state_publisher.launch"/>
@@ -18,4 +18,9 @@
     <arg name="usb_config" value="$(arg usb_config)"/>
   </include>
 
+  <group if="$(arg rviz)">
+    <node name="$(anon rviz)" pkg="rviz" type="rviz" required="false"
+          args="-d $(find zzangdol_bringup)/rviz/record_monitoring.rviz" />
+  </group>
+
 </launch>