feat: capture head and waist RGB-D data

verify.sh

@@ -40,7 +40,36 @@ import sys
 import tomllib
 
 with open(sys.argv[1], "rb") as stream:
-    tomllib.load(stream)
+    document = tomllib.load(stream)
+section = document["data_collection"]
+topics = set(section["topics"])
+required = set(section["required_topics"])
+head_rgbd = {
+    "/ob_camera_head/color/image_raw/compressed",
+    "/ob_camera_head/color/camera_info",
+    "/ob_camera_head/depth/image_raw/compressedDepth",
+    "/ob_camera_head/depth/camera_info",
+}
+waist_rgbd = {
+    "/ob_camera_waist/color/image_raw/compressed",
+    "/ob_camera_waist/color/camera_info",
+    "/ob_camera_waist/depth/image_raw/compressedDepth",
+    "/ob_camera_waist/depth/camera_info",
+}
+assert head_rgbd <= topics, "head RGB-D topics must stay in the recording whitelist"
+assert waist_rgbd <= topics, "waist RGB-D topics must stay in the recording whitelist"
+assert waist_rgbd <= required, "live waist RGB-D topics must stay required"
+assert head_rgbd.isdisjoint(required), "inactive head RGB-D must not block recording"
+assert {
+    "/ob_camera_waist/color/metadata",
+    "/ob_camera_waist/depth/metadata",
+    "/tf_static",
+} <= required
+assert section["minimum_topic_rates_hz"] == {
+    "/ob_camera_waist/color/image_raw/compressed": 20.0,
+    "/ob_camera_waist/depth/image_raw/compressedDepth": 20.0,
+}
+assert section["minimum_free_gib"] >= 100.0
 print("config.toml parse passed")
 PY