From 38eb393fc7a23237bb0ae8489845cc22e351a7a8 Mon Sep 17 00:00:00 2001
From: Eric Omielan <112828024+eomielan@users.noreply.github.com>
Date: Tue, 30 Jan 2024 12:39:40 -0800
Subject: [PATCH] Add configuration for data collection node (#222)

* Add configuration for data collection node

* Change default filename

* Add boat simulator output directory to .gitignore

* Update config README & remove comments from yaml file

---------

Co-authored-by: Devon Friend <devon.fri.2000@gmail.com>
---
 .gitignore                            |  3 +++
 src/global_launch/config/README.md    | 39 +++++++++++++++++++++++++++
 src/global_launch/config/globals.yaml |  8 ++++++
 3 files changed, 50 insertions(+)

diff --git a/.gitignore b/.gitignore
index bc17d4713..3db9751ff 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,6 @@ __pycache__/
 
 # exported plantuml diagrams
 /diagrams/out/
+
+# data collection node output
+/boat_simulator_output/
diff --git a/src/global_launch/config/README.md b/src/global_launch/config/README.md
index 78d272505..b2daac721 100644
--- a/src/global_launch/config/README.md
+++ b/src/global_launch/config/README.md
@@ -239,3 +239,42 @@ specified within an array: one for the `x` component, and one for the `y` compon
 - _Description_: How often the sail action server requests a wingsail actuation.
 - _Datatype_: `double`
 - _Range_: `(0.0, MAX_DOUBLE)`
+
+### `data_collection_node`
+
+**`file_name`**
+
+- _Description_: The name of the file in which the data is saved, excluding the file extension.
+- _Datatype_: `string`
+- _Acceptable Values_: Any valid file name.
+
+**`qos_depth`**
+
+- _Description_: The maximum number of subscription messages to queue for further processing.
+- _Datatype_: `int`
+- _Range_: `[1, MAX_INT)`
+
+**`topics`**
+
+- _Description_: Specifies the topics to subscribe to. It should adhere to the format `['topic_name_1', 'topic_type_1', ...]`.
+- _Datatype_: `string` array with an even length
+- _Acceptable Values_: Each pair within the array must consist of a valid topic name as the first string and the
+corresponding correct type as the second string.
+
+**`bag`**
+
+- _Description_: Determines whether to save recorded data as a ROS bag.
+- _Datatype_: `boolean`
+- _Acceptable Values_: `true`, `false`
+
+**`json`**
+
+- _Description_: Determines whether to save recorded data as a JSON file.
+- _Datatype_: `boolean`
+- _Acceptable Values_: `true`, `false`
+
+**`write_period_sec`**
+
+- _Description_: The interval (in seconds) for writing queued data to the JSON file.
+- _Datatype_: `double`
+- _Range_: `(0.0, MAX_DOUBLE)`
diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index 91d3c056e..b385741dd 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -54,3 +54,11 @@ physics_engine_node:
             corr_xy: 0.
          constant_params:
             value: [1.0, 0.0]
+data_collection_node:
+   ros__parameters:
+      file_name: 'ros_data_collection'
+      qos_depth: 10
+      topics: ['/mock_gps', 'GPS', '/mock_wind_sensors', 'WindSensors']
+      bag: false
+      json: true
+      write_period_sec: 0.5