pr1040_record.launch

<launch>
  <arg name="ROBOT" default="$(env ROBOT)" />
  <arg name="map_frame" default="eng2" />
  <arg name="machine" default="localhost" />
  <arg name="output" default="screen" />
  <arg name="respawn" default="true" />

  <include file="$(find pr2_machine)/$(arg ROBOT).machine" />

  <machine name="localhost" address="localhost" />

  <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">
    <arg name="save_rgb" value="true" />
    <arg name="save_depth" value="true" />
    <arg name="save_tf" value="true" />
    <arg name="save_joint_states" value="true" />
    <arg name="save_smach" value="true" />

    <arg name="save_base_trajectory" value="true" />
    <arg name="save_object_detection" value="true" />
    <arg name="save_action" value="false" />

    <arg name="enable_monitor" value="false" />

    <arg name="log_rate" value="10.0" />
    <arg name="localhost" value="false" />
    <arg name="machine" value="$(arg machine)" />
    <arg name="launch_manager" value="true" /> <!-- false -->
    <!-- <arg name="manager" value="kinect_head/kinect_head_c2_nodelet_manager" /> -->
    <arg name="map_frame_id" value="$(arg map_frame)" />
    <arg name="camera_ns" value="kinect_head_c2" />
  </include>

  <rosparam ns="lifelog/joint_states_throttle">
    periodic: false
    threshold: 0.01
    blacklist:
    - head_tilt_joint
    - laser_tilt_mount_joint
  </rosparam>

  <node name="smach_bboxes"
        pkg="jsk_robot_startup" type="mongo_record.py"
        machine="$(arg machine)"
        respawn="$(arg respawn)">
    <rosparam subst_value="true">
      topics:
      - /bounding_box_array/plate_boxes
      - /bounding_box_array/catlery_boxes
    </rosparam>
  </node>

</launch>