ROBOTIS-GIT · robotpilot · Nov 25, 2025 · Oct 29, 2025 · Oct 29, 2025 · Oct 29, 2025
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -74,3 +74,4 @@ jobs:
           package-name: |
             physical_ai_server
             physical_ai_interfaces
+            rosbag_recorder
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        linter: [flake8, pep257, xmllint, copyright]
+        linter: [cpplint, cppcheck, uncrustify, lint_cmake, flake8, pep257, xmllint, copyright]
     steps:
       - name: Checkout code
         uses: actions/checkout@v4

diff --git a/physical_ai_interfaces/CHANGELOG.rst b/physical_ai_interfaces/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package physical_ai_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2025-11-21)
+------------------
+* None
+
 0.6.13 (2025-10-27)
 ------------------
 * None

diff --git a/physical_ai_interfaces/msg/TaskInfo.msg b/physical_ai_interfaces/msg/TaskInfo.msg
@@ -13,3 +13,4 @@ bool push_to_hub
 bool private_mode
 bool use_optimized_save_mode
 bool record_inference_mode
+bool record_rosbag2
diff --git a/physical_ai_interfaces/package.xml b/physical_ai_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>physical_ai_interfaces</name>
-  <version>0.6.13</version>
+  <version>0.7.0</version>
   <description>
     ROS 2 interfaces for Physical AI tools
   </description>

diff --git a/physical_ai_manager/CHANGELOG.rst b/physical_ai_manager/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package physical_ai_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2025-11-21)
+------------------
+* Added rosbag2 record option to the Record page
+* Contributors: Kiwoong Park
+
 0.6.13 (2025-10-27)
 ------------------
 * Changed to skip automatic HF user ID loading on Record page when Push to Hub is disabled

diff --git a/physical_ai_manager/package-lock.json b/physical_ai_manager/package-lock.json
diff --git a/physical_ai_manager/package.json b/physical_ai_manager/package.json
@@ -1,6 +1,6 @@
 {
   "name": "physical_ai_manager",
-  "version": "0.6.13",
+  "version": "0.7.0",
   "description": "Web UI for Physical AI Platform",
   "author": "Kiwoong Park <[email protected]>",
   "contributors": [

diff --git a/physical_ai_manager/src/components/InfoPanel.js b/physical_ai_manager/src/components/InfoPanel.js
@@ -173,6 +173,10 @@ const InfoPanel = () => {
     if (useMultiTaskMode && !info.useOptimizedSave) {
       dispatch(setTaskInfo({ ...info, useOptimizedSave: true }));
     }
+
+    if (useMultiTaskMode && info.recordRosBag2) {
+      dispatch(setTaskInfo({ ...info, recordRosBag2: false }));
+    }
     // eslint-disable-next-line react-hooks/exhaustive-deps
   }, [useMultiTaskMode, info.useOptimizedSave, dispatch]);
 
@@ -749,6 +753,29 @@ const InfoPanel = () => {
         </div>
       </div>
 
+      <div className={clsx('flex', 'items-center', 'mb-2')}>
+        <span className={classLabel}>Record Rosbag2</span>
+        <div className="flex flex-col">
+          <div className={clsx('flex', 'items-center')}>
+            <input
+              className={clsx(classCheckbox, {
+                'cursor-not-allowed opacity-50': useMultiTaskMode,
+              })}
+              type="checkbox"
+              checked={!!info.recordRosBag2}
+              onChange={(e) => handleChange('recordRosBag2', e.target.checked)}
+              disabled={!isEditable || useMultiTaskMode}
+            />
+            <span className={clsx('ml-2', 'text-sm', 'text-gray-500')}>
+              {info.recordRosBag2 ? 'Enabled' : 'Disabled'}
+            </span>
+          </div>
+          {useMultiTaskMode && (
+            <span className="text-xs text-blue-600 ml-1">(Auto-disabled in Multi-Task mode)</span>
+          )}
+        </div>
+      </div>
+
       <div className="mt-4 space-y-2">
         <button
           className={clsx(

diff --git a/physical_ai_manager/src/components/RobotTypeSelector.js b/physical_ai_manager/src/components/RobotTypeSelector.js
@@ -21,8 +21,8 @@ import toast from 'react-hot-toast';
 import { MdRefresh } from 'react-icons/md';
 import { useRosServiceCaller } from '../hooks/useRosServiceCaller';
 import TaskPhase from '../constants/taskPhases';
-import { selectRobotType } from '../features/tasks/taskSlice';
-import { setRobotTypeList } from '../features/ui/uiSlice';
+import { selectRobotType, removeAllTags } from '../features/tasks/taskSlice';
+import { setRobotTypeList, setIsFirstLoadTrue } from '../features/ui/uiSlice';
 
 export default function RobotTypeSelector() {
   const dispatch = useDispatch();
@@ -84,6 +84,9 @@ export default function RobotTypeSelector() {
       if (result && result.success) {
         dispatch(selectRobotType(selectedRobotType));
         toast.success(`Robot type set to: ${selectedRobotType}`);
+
+        dispatch(setIsFirstLoadTrue('record')); // to reset tags
+        dispatch(removeAllTags());
       } else {
         toast.error(`Failed to set robot type: ${result.message || 'Unknown error'}`);
       }

diff --git a/physical_ai_manager/src/features/editDataset/components/DatasetHuggingfaceSection.js b/physical_ai_manager/src/features/editDataset/components/DatasetHuggingfaceSection.js
@@ -808,7 +808,7 @@ const HuggingfaceSection = () => {
         onFileSelect={handleHfLocalDirSelect}
         title="Select Local Directory for Upload"
         selectButtonText="Select"
-        allowDirectorySelect={false}
+        allowDirectorySelect={true}
         targetFolderName={[
           TARGET_FOLDERS.DATASET_METADATA,
           TARGET_FOLDERS.DATASET_VIDEO,

diff --git a/physical_ai_manager/src/features/tasks/taskSlice.js b/physical_ai_manager/src/features/tasks/taskSlice.js
@@ -37,6 +37,7 @@ const initialState = {
     pushToHub: true,
     privateMode: false,
     useOptimizedSave: true,
+    recordRosBag2: false,
   },
   taskStatus: {
     robotType: '',
@@ -107,6 +108,9 @@ const taskSlice = createSlice({
     removeTag: (state, action) => {
       state.taskInfo.tags = state.taskInfo.tags.filter((tag) => tag !== action.payload);
     },
+    removeAllTags: (state) => {
+      state.taskInfo.tags = [];
+    },
     setHeartbeatStatus: (state, action) => {
       state.heartbeatStatus = action.payload;
     },
@@ -134,6 +138,7 @@ export const {
   setRecordInferenceMode,
   addTag,
   removeTag,
+  removeAllTags,
   setHeartbeatStatus,
   setLastHeartbeatTime,
   setUseMultiTaskMode,

diff --git a/physical_ai_manager/src/features/ui/uiSlice.js b/physical_ai_manager/src/features/ui/uiSlice.js
@@ -80,6 +80,9 @@ const uiSlice = createSlice({
     setIsFirstLoadFalse: (state, action) => {
       state.isFirstLoad[action.payload] = false;
     },
+    setIsFirstLoadTrue: (state, action) => {
+      state.isFirstLoad[action.payload] = true;
+    },
   },
 });
 
@@ -96,6 +99,7 @@ export const {
   clearNotifications,
   setRobotTypeList,
   setIsFirstLoadFalse,
+  setIsFirstLoadTrue,
 } = uiSlice.actions;
 
 export default uiSlice.reducer;
diff --git a/physical_ai_manager/src/hooks/useRosServiceCaller.js b/physical_ai_manager/src/hooks/useRosServiceCaller.js
@@ -144,6 +144,7 @@ export function useRosServiceCaller() {
             push_to_hub: Boolean(taskInfo.pushToHub),
             private_mode: Boolean(taskInfo.privateMode),
             use_optimized_save_mode: Boolean(taskInfo.useOptimizedSave),
+            record_rosbag2: Boolean(taskInfo.recordRosBag2),
           },
           command: Number(command_enum),
         };

diff --git a/physical_ai_manager/src/hooks/useRosTopicSubscription.js b/physical_ai_manager/src/hooks/useRosTopicSubscription.js
@@ -281,6 +281,7 @@ export function useRosTopicSubscription() {
               pushToHub: msg.task_info.push_to_hub || false,
               privateMode: msg.task_info.private_mode || false,
               useOptimizedSave: msg.task_info.use_optimized_save_mode || false,
+              recordRosBag2: msg.task_info.record_rosbag2 || false,
             })
           );
         }

diff --git a/physical_ai_server/CHANGELOG.rst b/physical_ai_server/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package physical_ai_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.0 (2025-11-21)
+------------------
+* Added rosbag2 recording support when collecting LeRobot datasets
+* Contributors: Woojin Wie, Kiwoong Park
+
 0.6.13 (2025-10-27)
 ------------------
 * Fixed physical_ai_server crash when querying user ID without locally registered HuggingFace token

diff --git a/physical_ai_server/launch/physical_ai_server_bringup.launch.py b/physical_ai_server/launch/physical_ai_server_bringup.launch.py
@@ -46,6 +46,14 @@ def generate_launch_description():
         )
     )
 
+    # Include rosbag_recorder service_bag_recorder node
+    rosbag_recorder_node = Node(
+        package='rosbag_recorder',
+        executable='service_bag_recorder',
+        name='service_bag_recorder',
+        output='screen'
+    )
+
     # web_video_server node
     web_video_server_node = Node(
         package='web_video_server',
@@ -57,5 +65,6 @@ def generate_launch_description():
     return LaunchDescription([
         physical_ai_server_launch,
         rosbridge_server_launch,
+        rosbag_recorder_node,
         web_video_server_node
     ])
diff --git a/physical_ai_server/package.xml b/physical_ai_server/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>physical_ai_server</name>
-  <version>0.6.13</version>
+  <version>0.7.0</version>
   <description>
     ROS 2 package for Open Platform AI Kit integration
   </description>
@@ -17,6 +17,7 @@
   <depend>message_filters</depend>
   <depend>cv_bridge</depend>
   <depend>trajectory_msgs</depend>
+  <depend>rosbag_recorder</depend>
   <exec_depend>web_video_server</exec_depend>
   <exec_depend>rosbridge_suite</exec_depend>
   <exec_depend>image_transport_plugins</exec_depend>