I am logging data in MCAP format using
ros2 bag record -s mcap --all which saves a
.mcap file with all my logged data as well as a
metadata.yaml file with some info about what is stored in the
I would like to "checkpoint" my system when I save the data by somehow saving all the ROS parameters along with these files that come from
ros2 bag record. However, in ROS2 there's no longer a global parameter server and each node has a way of interacting with its own local parameters (see About parameters in ROS 2). Is there a standard way to save all ROS parameters from all nodes so that I could have this info in my logs?
I'm about to work on a script to hack such behavior together, and would like to know if I'm wasting my time, that maybe there is already a reasonable solution to this problem that I'm unaware of. Thanks!
mcap help addto see commands you can use to add attachments/metadata after a recording is made. $\endgroup$