rosbag_in_data_collection_server_test.launch

<launch>
  <arg name="collect_data" default="true" />

  <node name="data_collection_rosbag_test"
        pkg="jsk_data" type="data_collection_server.py"
        output="screen" clear_params="true" if="$(arg collect_data)">
    <rosparam subst_value="true">
      message_filters: true
      approximate_sync: true
      save_dir: ~/Desktop/data_collection_rosbag_test
      method: timer
      topics:
          - name: /kinect_head/rgb/image_rect_color
            msg_class: sensor_msgs/Image
            fname: pr2_image_rect_color_request.png
            savetype: ColorImage
      rosbag_prefix: test
      rosbag_options: -q --bz
      rosbag_topics:
           - /rosout
           - /tf
           - /tf_static
           - /joint_states
           - /map
           - /base_odometry/odom
           - /robot_pose_ekf/odom_combined
           - /base_controller/command
           - /navigation/cmd_vel
           - /move_base_node/NavFnROS/plan
           - /move_base_node/DWAPlannerROS/global_plan
           - /move_base_node/DWAPlannerROS/local_plan
           - /move_base_node/local_costmap/costmap
           - /move_base_node/global_costmap/costmap
           - /move_base_node/global_costmap/footprint
           - /safe_teleop_base/local_costmap/costmap
           - /spots_marker_array
           - /particlecloud
           - /base_scan_throttled
           - /tilt_scan_throttled
           - /kinect_head/rgb/throttled/camera_info
           - /kinect_head/depth_registered/throttled/camera_info
           - /kinect_head/rgb/throttled/image_rect_color/compressed
           - /kinect_head/depth_registered/throttled/image_rect/compressedDepth
           - /audio
    </rosparam>
  </node>
</launch>