change the config from perception default, add rosbag player docs

README.md

@@ -14,7 +14,7 @@ Dockerized ROS2 setup for the WATonomous Autonomous Driving Software Pipeline
 
 ## Getting Started
 Read the following:
-1. [docs/setup.md](docs/setup/setup.md) How to setup our repo. 
+1. [docs/setup.md](docs/setup/setup.md) How to setup our repo.
 
 **TLDR:** Clone the monorepo, specify active modules, `watod up`. Everything is containerized, so there's little need to setup any dependencies on your end :).
 
@@ -62,18 +62,18 @@ wato_monorepo_v2
 ```
 
 
-- `watod`. 
+- `watod`.
   - This is the main bash script that you will use to interface with your containers. More info on `watod`: [docs/dev/watod.md](docs/dev/watod.md).
-- `watod-setup-env.sh`. 
+- `watod-setup-env.sh`.
   - watod-setup-env.sh (in scripts directory) will create a [.env file](https://docs.docker.com/compose/env-file/) specifying environment variables for docker-compose. `watod` automatically runs this script before running any commands. To override variables in `watod-setup-env.sh`, create a `wato2-config.sh` file and populate it with variables, for example `ACTIVE_MODULES="perception path_planning"`. `watod-setup-env.sh` will then take this file into account when building the `.env` file.
 - `scripts/watod-completion.bash`.
   - Bash autocomplete for watod. Adapted from docker-compose. Add `source <MONO_DIR>/scripts/watod-completion.bash` to your bashrc to use autocomplete.
-- `modules/`: 
+- `modules/`:
   - This folder contains all docker-compose files specifying the services we will run. They are grouped up into modules. Note that by default no modules are enabled. To select additional modules, overwrite `ACTIVE_MODULES="<MODULES_OF_YOUR_CHOICE"` in `wato2-config.sh`. See the [docker-compose wiki](https://docs.docker.com/compose/extends/). More info on modules: [docs/dev/modules.md](docs/dev/modules.md).
-- `docker/`: 
+- `docker/`:
   - This folder contains the `Dockerfiles` for each of our images. [Docker wiki](https://docs.docker.com/engine/reference/builder/).
-- `src/`: 
-  - Here is where all the logic and cool technologies for autonomous software go. The folders in `src` will be mounted to our docker images, so changes in the `src` directory will be reflected in the containers. 
+- `src/`:
+  - Here is where all the logic and cool technologies for autonomous software go. The folders in `src` will be mounted to our docker images, so changes in the `src` directory will be reflected in the containers.
 - `docs/`:
   - This folder contains the documentation for this monorepo, including instructions for setup and details on how to navigate and develop in this monorepo.
 
@@ -88,17 +88,22 @@ wato_monorepo_v2
 ### Using Foxglove
 [Foxglove](https://foxglove.dev/) is used to visualize ROS messages on a local machine.
 
-Add `data_stream` as an `ACTIVE_MODULES` and `watod up`. 
+Add `data_stream` as an `ACTIVE_MODULES` and `watod up`.
 
 It exposes the port specified by the `FOXGLOVE_BRIDGE_PORT` variable, which you will need to forward to your local machine. This can either be done in the `ports` section of VS Code or by running the command `ssh -L 8765:localhost:8765 <username>@<machine>-ubuntu1.watocluster.local` on your local machine.
 
 Then, open foxglove and add a connection `localhost:8765`, and it should connect.
 
+### Playing Rosbags
+Add `infrastructure` as an `ACTIVE_MODULES` and `watod run`.
+An example of the command, feel free to change the `mcap` file being run.
+`./watod run data_stream ros2 bag play ./nuscenes/NuScenes-v1.0-mini-scene-0061/NuScenes-v1.0-mini-scene-0061_0.mcap`
+
 ### Monorepo Info
 [docs/monorepo.md](docs/monorepo.md)
 
-### Technical Specification 
+### Technical Specification
 Docker, Continuous Integration: [tech_spec.md](docs/tech_spec.md)
 
 ### FAQ
-[docs/faq.md](docs/faq.md)
+[docs/faq.md](docs/faq.md)

watod-config.sh

@@ -5,14 +5,14 @@
 ##
 ## List of active modules to run, defined in docker-compose.yaml.
 ## Possible values:
-##   - infrastructure     	:   starts visualization tools (foxglove and/or vnc)
+##   - infrastructure     	:   starts visualization tools (foxglove and/or vnc and/or data_stream)
 ##	 - perception			:	starts perception nodes
 ##	 - world_modeling		:	starts world modeling nodes
 ##	 - action				:	starts action nodes
 ##	 - simulation			:	starts simulation
 ##   - samples             	:   starts sample ROS2 pubsub nodes
 
-ACTIVE_MODULES="perception"
+ACTIVE_MODULES="samples"
 
 ############################## OPTIONAL CONFIGURATIONS ##############################
 ## Name to append to docker containers. DEFAULT = "<your_watcloud_username>"
@@ -23,4 +23,4 @@ ACTIVE_MODULES="perception"
 # TAG=""
 
 # Docker Registry to pull/push images. DEFAULT = "ghcr.io/watonomous/wato_monorepo"
-# REGISTRY_URL=""
+# REGISTRY_URL=""