From 587c7b36a0ca067124a1319ad2faf272f701796c Mon Sep 17 00:00:00 2001
From: Laurent George <laurent.f.george@gmail.com>
Date: Fri, 8 Jun 2018 08:59:30 +0200
Subject: [PATCH] Remove hardcoding rosbag path

---
 carla_ros_bridge/Readme.md                                  | 4 ++--
 carla_ros_bridge/client.launch                              | 4 ++--
 carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py | 5 +++--
 carla_ros_bridge/src/carla_ros_bridge/client.py             | 2 +-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md
index b5f2e1ecc..7a69406b3 100644
--- a/carla_ros_bridge/Readme.md
+++ b/carla_ros_bridge/Readme.md
@@ -153,9 +153,9 @@ Example for backward :
 
 The carla_ros_bridge could also be used to record all published topics into a rosbag:
 
-    roslaunch carla_ros_bridge client_with_rviz.launch enable_rosbag:=True
+    roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag
 
-This command will create a rosbag in /tmp/output_{date}.bag
+This command will create a rosbag /tmp/save_session.bag
 
 You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process.
 
diff --git a/carla_ros_bridge/client.launch b/carla_ros_bridge/client.launch
index 07c77f5fd..020ac907e 100644
--- a/carla_ros_bridge/client.launch
+++ b/carla_ros_bridge/client.launch
@@ -1,7 +1,7 @@
 <launch>
-    <arg name='enable_rosbag' default='False'/>
+  <arg name='rosbag_fname' default=''/>
+  <param name="rosbag_fname" value="$(arg rosbag_fname)"/>
   <rosparam file="$(find carla_ros_bridge)/config/settings.yaml" command="load" />
   <param name="carla_autopilot" type="boolean" value="True" />
-  <param name='enable_rosbag' type="boolean" value="$(arg enable_rosbag)"/>
   <node pkg="carla_ros_bridge" name="carla_ros_bridge" type="client.py" output="screen"/>
 </launch>
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
index b99565ebe..82ca3db52 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py
@@ -7,6 +7,7 @@ import time
 from tf2_msgs.msg import TFMessage
 import rosbag
 import rospy
+import os
 
 from carla_ros_bridge.bridge import CarlaRosBridge
 
@@ -14,8 +15,8 @@ from carla_ros_bridge.bridge import CarlaRosBridge
 class CarlaRosBridgeWithBag(CarlaRosBridge):
     def __init__(self, *args, **kwargs):
         super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs)
-        timestr = time.strftime("%Y%m%d-%H%M%S")
-        self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w')
+        rosbag_fname = rospy.get_param('rosbag_fname')
+        self.bag = rosbag.Bag(rosbag_fname, mode='w')
 
     def send_msgs(self):
         for publisher, msg in self.msgs_to_publish:
diff --git a/carla_ros_bridge/src/carla_ros_bridge/client.py b/carla_ros_bridge/src/carla_ros_bridge/client.py
index 124355b32..6f9fdea9e 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/client.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/client.py
@@ -24,7 +24,7 @@ def main():
         rospy.loginfo("Connected")
 
         bridge_cls = CarlaRosBridgeWithBag if rospy.get_param(
-            'enable_rosbag') else CarlaRosBridge
+            'rosbag_fname', '') else CarlaRosBridge
         with bridge_cls(client=client, params=params) as carla_ros_bridge:
             rospy.on_shutdown(carla_ros_bridge.on_shutdown)
             carla_ros_bridge.run()