pip install 'roboticks[mcap]'

from roboticks import mcap_capture

with mcap_capture(
    topics=["/cmd_vel", "/scan", "/odom"],   # allowlist
    path="captures/test_estop.mcap",         # local path
    upload_on="failure",                     # "failure" | "always" | "never"
) as bag:
    run_the_scenario()

with mcap_capture(topics=["/cmd_vel", "/safety/*"]):
    ...

import pytest
from roboticks import confirms, deadline, mcap_capture
from roboticks.assertions import assert_topic_published
from std_msgs.msg import Bool

@confirms("REQ-014")
@deadline(milliseconds=200)
def test_estop_with_recording(ros_context, robot_node):
    with mcap_capture(
        topics=["/cmd_vel", "/safety/estop_engaged", "/safety/heartbeat"],
        upload_on="failure",
    ):
        robot_node.command_velocity(1.0)
        robot_node.trigger_estop()
        assert_topic_published(
            "/safety/estop_engaged", Bool,
            within=0.1, predicate=lambda m: m.data is True,
        )

@pytest.fixture(scope="session")
def session_bag():
    with mcap_capture(path="captures/full_session.mcap", upload_on="always") as bag:
        yield bag

with mcap_capture(topics=["/scan", "/cmd_vel"]):
    with delay_messages("/scan", ms=300):
        ...