./launch-system.sh

$ ./launch-system.sh

# Dialog 1: Name prompt
[kdialog] "Enter a name for the recording:"
[default] "2026-02-20_15-30-45__excited_maman-brigitte"

# Dialog 2: Topics checklist (selected items marked with *)
* /imu/data - Xsens IMU Data
* /imu/mag - Xsens IMU Magnetometer
* /heading - Heading
* /tf_static - Static TF
...

# Dialog 3: Splitting strategy
[kdialog] "Size (in GB)" selected -> "5"
-> bag_limit_flag="-b 5368709120"

# Dialog 4: Compression
[kdialog] Storage profile: "zstd_fast" selected

# Dialog 5: Confirmation
[kdialog] Start recording named: '2026-02-20_15-30-45__excited_maman-brigitte'

# Start recording...
Recording Started!

topics=$(kdialog --checklist "Topics to record" \
    /imu/data "Xsens IMU Data" on \
    /imu/mag "Xsens IMU Magnetometer" on \
    /heading "Heading" on \
    /tf_static "Static TF" on \
    /tf "TF" on \
    /robot_description "Robot Description" on \
    /ouster/lidar_packets "Ouster LiDAR Packets" on \
    /ouster/imu_packets "Ouster IMU Packets" on \
    /ouster/metadata "Ouster Metadata" on \
    ...and more
)

# Find the kdialog --checklist section and add:
/new_sensor/data "New Sensor Data" on \

# Find this line (around line 81):
storage_profile=$(kdialog --combobox "Select storage preset profile:" none fastwrite zstd_fast zstd_small --default none)

# Change --default to:
--default zstd_fast

# Find this line (around line 72):
bag_limit_value=$(kdialog --inputbox "Enter max bag size (GB):" "5")

# Change "5" to different default:
"10"  # For 10 GB default

./gnome-launch-system.sh

./stop-system.sh

#!/bin/bash

# 1. Send SIGINT to recording process (allows graceful shutdown)
podman exec recording pkill -SIGINT -f hector_recorder

# 2. Stop containers in dependency order
podman stop recording      # Stop recording first (in-flight writes)
podman stop monitoring     # Then monitoring
podman stop xsens          # Sensor containers
podman stop emlid
podman stop foxglove-bridge
podman stop realsense
podman stop ouster

docker exec recording pkill -SIGINT -f hector_recorder
docker stop recording
# ... etc

./stop-system.sh

podman stop ros2-apparatus-realsense

# Or on Desktop with Docker:
docker stop ros2-apparatus-realsense

# SteamDeck (Podman):
podman kill ros2-apparatus-recording

# Desktop (Docker):
docker kill ros2-apparatus-recording

sudo bash tty-perms.sh

# Or manually:
sudo chmod 666 /dev/ttyUSB0  # Xsens
sudo chmod 666 /dev/ttyUSB1  # Other serial devices (if present)

#!/bin/bash
# Sets read/write permissions on USB serial devices
# Allows non-root access to /dev/ttyUSB* without sudo

chmod 666 /dev/ttyUSB*  # All USB serial devices
chmod 666 /dev/ttyACM*  # USB ACM (modem) devices

# More permanent solution
sudo usermod -aG dialout $USER

# Then log out and back in
exit

cd docker/
bash pre_recording_test.sh

# Full system diagnostic
cd docker/
bash pre_recording_test.sh

# Wait for completion (~8 minutes)

# Edit pre_recording_test.sh
# Change: total_duration=420  →  total_duration=60
bash pre_recording_test.sh

# Add new topic to `topics` variable
# Run pre_recording_test.sh
# Verify new sensor appears in output

#!/bin/bash
set -e

# Source ROS2 setup
source /docker_ws/install/setup.bash

# Patch driver with shared scripts (custom modifications)
cat /ros2_ws/shared/scripts/mtdevice.py > \
  /docker_ws/src/norlab_xsens_driver/xsens_driver/mtdevice.py
cat /ros2_ws/shared/scripts/mtnode.py > \
  /docker_ws/src/norlab_xsens_driver/xsens_driver/mtnode.py

# Launch Xsens driver with parameters
ros2 launch xsens_driver xsens_driver.launch.xml \
  baudrate:=460800 \          # Serial communication speed
  device:=/dev/ttyUSB0 \      # Serial port
  frame_id:=xsens_imu         # ROS TF frame

# Sources workspace and executes:
ros2 launch rslaunch rs_launch.py \
  use_sim_time:=False

#!/bin/bash
set -e

# Source ROS2 environment
source /opt/ros/jazzy/setup.bash

# If workspace exists, source it
if [ -d /docker_ws/src ]; then
    cd /docker_ws
    source /docker_ws/install/setup.bash
fi

# Execute the command passed to container
exec "$@"

# Find the kdialog --checklist section around line 25
topics=$(kdialog --checklist "Topics to record" \
    /imu/data "Xsens IMU Data" on \
    # ... existing topics ...
    /new_topic/data "New Topic" on \    # Add this line
    /fix "GPS" on)

# Find around line 91
--default none)

# Change to:
--default zstd_fast)

#!/bin/bash
RECORDING_DIR="rosbags/auto_$(date +%Y-%m-%d)"
mkdir -p "$RECORDING_DIR"

cd docker/
docker-compose up -d

sleep 5  # Wait for containers to initialize

podman run --rm -it --name recording --network docker_ros2-net \
  -v ../rosbags:/rosbags \
  localhost/docker_recording bash -c \
  "ros2 run hector_recorder record -d 3600 \
     --topics /imu/data /ouster/lidar_packets \
     -o /rosbags/$RECORDING_DIR/auto_recording"

./stop-system.sh

#!/bin/bash
# Process all recordings in parallel

for recording_dir in rosbags/*/; do
    recording_name=$(basename "$recording_dir")
    
    # Extract point cloud
    ros2 bag convert -i "$recording_dir" \
        --topics /ouster/points \
        -f csv -o "pcd/${recording_name}.pcd" &
    
    # Create info file
    ros2 bag info "$recording_dir" \
        > "${recording_dir}/analysis.txt" &
done

wait  # Wait for all background jobs
echo "Processing complete"

# Check current permissions
ls -la *.sh

# Make script executable
chmod +x launch-system.sh
chmod +x stop-system.sh

# For all scripts
chmod +x *.sh
chmod +x docker/*.sh
chmod +x docker/docker_shared/scripts/*.sh
chmod +x docker/docker_build/*.sh

# Run with bash debug mode
bash -x launch-system.sh

# Or add to script header:
set -v  # Print commands
set -x  # Print commands with expansion

# Verify script syntax before running
bash -n launch-system.sh
bash -n stop-system.sh

# Or use ShellCheck linter
shellcheck launch-system.sh

# Save output to file
./launch-system.sh 2>&1 | tee recording.log

# Later, review:
cat recording.log