feat: keep RGB-D captures only on workstation

tg3_local_teleop/data_recorder_node.py

@@ -29,7 +29,11 @@ from rclpy.qos import (
 from rclpy.utilities import remove_ros_args
 from std_msgs.msg import String
 
-from data_collection import DataRecorderManager, RecorderConfig
+from data_collection import (
+    DataRecorderManager,
+    OptionalTopicGroupConfig,
+    RecorderConfig,
+)
 from data_recorder_protocol import (
     RecorderControlProtocol,
     topics_without_publishers,
@@ -102,6 +106,41 @@ def _minimum_topic_rates(value: Any) -> dict[str, float]:
     return result
 
 
+def _optional_topic_groups(
+    value: Any,
+) -> dict[str, OptionalTopicGroupConfig]:
+    name = "optional_topic_groups"
+    if not isinstance(value, dict):
+        raise ValueError(f"data_collection.{name} must be a TOML table")
+    result: dict[str, OptionalTopicGroupConfig] = {}
+    for group_name, raw_group in value.items():
+        if not isinstance(raw_group, dict):
+            raise ValueError(
+                f"data_collection.{name}.{group_name} must be a TOML table"
+            )
+        unknown = sorted(
+            set(raw_group) - {"topics", "minimum_topic_rates_hz"}
+        )
+        if unknown:
+            raise ValueError(
+                f"data_collection.{name}.{group_name} has unknown keys: "
+                + ", ".join(unknown)
+            )
+        topics = _topic_list(
+            raw_group.get("topics", []),
+            f"{name}.{group_name}.topics",
+            allow_empty=False,
+        )
+        rates = _minimum_topic_rates(
+            raw_group.get("minimum_topic_rates_hz", {})
+        )
+        result[group_name] = OptionalTopicGroupConfig(
+            topics=topics,
+            minimum_topic_rates_hz=rates,
+        )
+    return result
+
+
 @dataclass(frozen=True)
 class SupervisorSettings:
     enabled: bool
@@ -150,6 +189,9 @@ def load_settings(path: Path | str) -> SupervisorSettings:
     minimum_topic_rates = _minimum_topic_rates(
         section.get("minimum_topic_rates_hz", {})
     )
+    optional_topic_groups = _optional_topic_groups(
+        section.get("optional_topic_groups", {})
+    )
     unknown_rate_topics = sorted(
         set(minimum_topic_rates) - set(required_topics)
     )
@@ -187,6 +229,11 @@ def load_settings(path: Path | str) -> SupervisorSettings:
         topics=topics,
         required_topics=required_topics,
         minimum_topic_rates_hz=minimum_topic_rates,
+        optional_topic_groups=optional_topic_groups,
+        retain_failed_episodes=_boolean(
+            section.get("retain_failed_episodes", True),
+            "retain_failed_episodes",
+        ),
         minimum_free_bytes=int(minimum_free_gib * 1024**3),
         max_duration_seconds=max_duration,
         poll_interval_seconds=0.1,