feat: capture head and waist RGB-D data

tg3_local_teleop/data_recorder_node.py

@@ -89,6 +89,19 @@ def _topic_list(value: Any, name: str, *, allow_empty: bool) -> tuple[str, ...]:
     return result
 
 
+def _minimum_topic_rates(value: Any) -> dict[str, float]:
+    name = "minimum_topic_rates_hz"
+    if not isinstance(value, dict):
+        raise ValueError(f"data_collection.{name} must be a TOML table")
+    result: dict[str, float] = {}
+    for topic, rate in value.items():
+        normalized_topic = _topic(topic, f"{name} key")
+        result[normalized_topic] = _positive_number(
+            rate, f"{name}.{normalized_topic}"
+        )
+    return result
+
+
 @dataclass(frozen=True)
 class SupervisorSettings:
     enabled: bool
@@ -134,6 +147,17 @@ def load_settings(path: Path | str) -> SupervisorSettings:
             "data_collection.required_topics must also appear in topics: "
             + ", ".join(unknown_required)
         )
+    minimum_topic_rates = _minimum_topic_rates(
+        section.get("minimum_topic_rates_hz", {})
+    )
+    unknown_rate_topics = sorted(
+        set(minimum_topic_rates) - set(required_topics)
+    )
+    if unknown_rate_topics:
+        raise ValueError(
+            "data_collection.minimum_topic_rates_hz keys must also appear in "
+            "required_topics: " + ", ".join(unknown_rate_topics)
+        )
 
     heartbeat_timeout = _positive_number(
         section.get("heartbeat_timeout_seconds", 3.0),
@@ -162,6 +186,7 @@ def load_settings(path: Path | str) -> SupervisorSettings:
         base_directory=Path(base_directory).expanduser(),
         topics=topics,
         required_topics=required_topics,
+        minimum_topic_rates_hz=minimum_topic_rates,
         minimum_free_bytes=int(minimum_free_gib * 1024**3),
         max_duration_seconds=max_duration,
         poll_interval_seconds=0.1,