Better naming of output file

Author: glegarda

tycho_recorder/src/recorder_node

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import datetime
 import subprocess
 
 import rospy
@@ -27,14 +28,16 @@ class RosbagRecorder:
             return
         rospy.loginfo(f"{rospy.get_caller_id()}: Starting recording")
         self.is_recording = True
-        self.process = subprocess.Popen(["rosbag", "record", "-a", "-O", "test.bag"])
+        self.process = subprocess.Popen(["rosbag", "record", "-a", "-O", f"tycho-experiment-{datetime.datetime.now().strftime('%y%m%d-%H%M%S')}.bag"])
 
     def stop_recording(self):
+        if not self.is_recording:
+            return
         rospy.loginfo(f"{rospy.get_caller_id()}: Stopping recording")
+        self.is_recording = False
         self.process.terminate()
 
 def start_listening():
-
     # In ROS, nodes are uniquely named. If two nodes with the same
     # name are launched, the previous one is kicked off. The
     # anonymous=True flag means that rospy will choose a unique
@@ -44,7 +47,7 @@ def start_listening():
     recorder = RosbagRecorder()
     rospy.Subscriber("/argos3/status", String, recorder.argos3_status_callback)
     rospy.on_shutdown(recorder.stop_recording)
-
+    rospy.loginfo(f"{rospy.get_caller_id()}: Node is ready for recording.")
     # spin() simply keeps python from exiting until this node is stopped
     rospy.spin()