OM1 Telemetry Recorder

A Go application that synchronously records multi-modal sensor data:

• Video from RTSP streams (via ffmpeg)
• Audio from RTSP streams (via ffmpeg)
• Lidar point clouds from Zenoh topics

All streams are timestamped and organized into session directories for easy alignment and analysis.

Prerequisites

• Go 1.25 or later
• ffmpeg installed and available in PATH
• zenoh-c library (automatically downloaded via make download-zenohc)

Configuration

Configure via environment variables:

• VIDEO_RTSP_URL - Video stream URL (default: rtsp://localhost:8554/live)
• AUDIO_RTSP_URL - Audio stream URL (default: rtsp://localhost:8554/audio)
• LIDAR_ZENOH_TOPIC - Zenoh topic for lidar data (default: /scan)
• RECORDINGS_DIR - Base directory for recordings (default: recordings)

Building

Download the zenoh-c library and build the binary:

make download-zenohc
make build

The binary will be created at bin/om1-telemetry.

Running

./bin/om1-telemetry

Or with custom settings:

VIDEO_RTSP_URL="rtsp://camera.local/stream" \
AUDIO_RTSP_URL="rtsp://camera.local/audio" \
LIDAR_ZENOH_TOPIC="/lidar/scan" \
RECORDINGS_DIR="/path/to/recordings" \
./bin/om1-telemetry

Session Output

Each recording session creates a timestamped directory structure:

recordings/
└── 2026-05-15/
    └── 2026-05-15_14-30-00/
        ├── meta.json                  # Session metadata
        ├── video.mp4                  # Video recording
        ├── audio.wav                  # Audio recording
        ├── lidar_scans.bin           # Raw lidar point cloud data
        └── lidar_timestamps.csv       # Timestamps: unix_ns,seq,byte_offset

Testing

Run the test suite:

make test

Run tests for a specific package:

make test
# Or with the Go test command directly:
go test ./internal/lidar/... -v

Development

• Linting: make lint (requires golangci-lint)
• Tidy dependencies: make tidy