From e4952905609a3f23cc86ac27051319d87616af63 Mon Sep 17 00:00:00 2001
From: Sam <samuel.bracci58@ed.cna.nl.ca>
Date: Thu, 21 May 2026 16:17:22 -0230
Subject: [PATCH] Added file

---
 launch/camera_launch_test.py | 77 ++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 launch/camera_launch_test.py

diff --git a/launch/camera_launch_test.py b/launch/camera_launch_test.py
new file mode 100644
index 0000000..6ee0119
--- /dev/null
+++ b/launch/camera_launch_test.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+import os
+from datetime import datetime
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, RegisterEventHandler, LogInfo
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import TextSubstitution
+
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import PathJoinSubstitution
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    # Path to the workspace setup 
+    ROS_SETUP = TextSubstitution(text="source ~/ros2_ws/install/setup.bash && ")
+
+    # Includes the camera driver launch so the camera node can run in the same launch 
+    realsense_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([FindPackageShare("realsense2_camera"), "launch", "rs_launch.py"])
+        )
+    )
+
+    # Creates a output folder with a timestamp using datetime
+    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    bag_dir = f"/home/jetson/camera_recording_{timestamp}"
+
+    # Recorder: Will run until you manually stop it (CTRL-C in the launch terminal) <<< Important
+    recorder_cmd = ROS_SETUP.perform(None) + f'ros2 bag record /camera/camera/color/image_raw /camera/camera/depth/image_rect_raw -o {bag_dir}'
+    recorder = ExecuteProcess(
+        cmd=['bash', '-lc', recorder_cmd],
+        output='screen',
+        shell=False
+    )
+
+    # Converter: Will start immediately and let it watch for playback/frames
+    converter_cmd = ROS_SETUP.perform(None) + 'python3 ~/convert_bag_to_video.py'
+    converter = ExecuteProcess(
+        cmd=['bash', '-lc', converter_cmd],
+        output='screen',
+        shell=False
+    )
+
+    # Player: Will be launched when recorder exits (After you stop recording)
+    player_cmd = ROS_SETUP.perform(None) + f'ros2 bag play {bag_dir}'
+    player = ExecuteProcess(
+        cmd=['bash', '-lc', player_cmd],
+        output='screen',
+        shell=False
+    )
+
+    # When the recorder exits, start the player
+    start_player_on_recorder_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=recorder,
+            on_exit=[LogInfo(msg=['Recorder exited, starting playback...']), player]
+        )
+    )
+
+    # When the player exits, stop the converter (Uses pkill)
+    stop_converter_on_player_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=player,
+            on_exit=[LogInfo(msg=['Playback finished, stopping converter...']),
+                     ExecuteProcess(cmd=['bash', '-lc', 'pkill -f convert_bag_to_video.py || true'], output='screen')]
+        )
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(realsense_launch)
+    ld.add_action(converter)
+    ld.add_action(recorder)
+    ld.add_action(start_player_on_recorder_exit)
+    ld.add_action(stop_converter_on_player_exit)
+
+    return ld