Struct RosbagConfig

Struct Documentation

struct RosbagConfig

Configuration for rosbag recording (optional time-window capture)

Public Members

bool enabled = {false}

Whether rosbag recording is enabled (opt-in)

double duration_sec = {5.0}

Duration in seconds to buffer before fault confirmation.

double duration_after_sec = {1.0}

Duration in seconds to continue recording after fault confirmation.

std::string topics = {"config"}

Topic selection mode: “config” (reuse JSON config), “all”, or comma-separated list.

std::vector<std::string> include_topics

Additional topics to include (added to resolved list)

std::vector<std::string> exclude_topics

Topics to exclude from recording.

bool lazy_start = {false}

If true, start ring buffer only when fault enters PREFAILED state If false (default), ring buffer runs continuously from startup

std::string format = {"mcap"}

Storage format: “mcap” or “sqlite3”.

std::string storage_path

Path to store bag files (empty = system temp directory)

size_t max_bag_size_mb = {50}

Maximum size of a single bag file in MB.

size_t max_total_storage_mb = {500}

Maximum total storage for all bag files in MB.

bool auto_cleanup = {true}

If true, delete bag file when fault is cleared.