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Use enum values for offered_qos_profiles in code and string names in …
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…serialized metadata (#1476)

* Make C++ QoS YAML (de)serialization compliant with QoS override file schema

Signed-off-by: Patrick Roncagliolo <[email protected]>
Signed-off-by: roncapat <[email protected]>

* UGLY DRAFT - handle different versions of TopicMetadata

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Handle unknown cases

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Uncrustify

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fix test

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Refactor to avoid templates

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Reduce diff

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fix for rosbag2_py

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fix missing include (cpplint)

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

QoS parsing moved
MCAP code already drafted

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

Fix MCAP test compilation

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

Sqlite3 code
Everything builds up to rosbag2_transport (excluded)

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

rosbag2_transport partial rework

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

rosbag2_transport compiles

Signed-off-by: Patrick Roncagliolo <[email protected]>

* WIP: decode everything

everything compiles

Signed-off-by: roncapat <[email protected]>

* Uncrustify (warning: still draft code)

Signed-off-by: roncapat <[email protected]>

* Uncrustify

Signed-off-by: roncapat <[email protected]>

* Try to export dependency

Signed-off-by: roncapat <[email protected]>

* Cpplint

Signed-off-by: roncapat <[email protected]>

* Fix encode bug

Signed-off-by: roncapat <[email protected]>

* Fix transform bug

Signed-off-by: roncapat <[email protected]>

* Try to fix runtime error with py constructor

Signed-off-by: roncapat <[email protected]>

* Fix "test_record"

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Various fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Various fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Various fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Various fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Format

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Format

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Tentative fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* MCAP Fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* History QOS Fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* uncrust

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Remove VScode files

Signed-off-by: Patrick Roncagliolo <[email protected]>

* PR Diff analysis & reduction

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Refactor conversion snippets

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Uncrustify

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Address some comments

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Address some comments

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Address some comments

Signed-off-by: Patrick Roncagliolo <[email protected]>

* More fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fixes for failing tests in the test_qos.cpp

- Add Metadata version for encode methods to be able to encode
rclcpp::qos to the old format with enum numbers
- Fix downcast issue in the rclcpp::qos to Rosbag2QoS converter
functions

Signed-off-by: Michael Orlov <[email protected]>

* Add qos serialization format auto-detection

Signed-off-by: Michael Orlov <[email protected]>

* Workaround to properly convert offered_qos_profiles in mcap storage

- For old versions of the mcap files we were not storing metadata inside
mcap files and metadata.version was assigned to the default 9 version.

Signed-off-by: Michael Orlov <[email protected]>

* Fix clang format

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Last fixes

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fix visibility

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Uncrust

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Fix DLL troubles with yaml-cpp

Signed-off-by: Patrick Roncagliolo <[email protected]>

* Metadata V9 offered_qos_profiles as pure YAML

Signed-off-by: Patrick Roncagliolo <[email protected]>

---------

Signed-off-by: Patrick Roncagliolo <[email protected]>
Signed-off-by: roncapat <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Co-authored-by: Michael Orlov <[email protected]>
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roncapat and MichaelOrlov authored Nov 10, 2023
1 parent aa8cc02 commit abdc408
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Showing 51 changed files with 970 additions and 553 deletions.
2 changes: 1 addition & 1 deletion rosbag2_compression/test/rosbag2_compression/test_sequential_compression_reader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ class SequentialCompressionReaderTest : public Test
rcpputils::fs::remove_all(tmp_dir_);
storage_options_.uri = tmp_dir_.string();
topic_with_type_ = rosbag2_storage::TopicMetadata{
"topic", "test_msgs/BasicTypes", storage_serialization_format_, "", ""};
"topic", "test_msgs/BasicTypes", storage_serialization_format_, {}, ""};
auto topics_and_types = std::vector<rosbag2_storage::TopicMetadata>{topic_with_type_};
auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = topic_with_type_.name;
Expand Down
8 changes: 4 additions & 4 deletions rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -243,7 +243,7 @@ TEST_F(SequentialCompressionWriterTest, writer_creates_correct_metadata_relative

tmp_dir_storage_options_.max_bagfile_size = 1;
writer_->open(tmp_dir_storage_options_);
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down Expand Up @@ -285,7 +285,7 @@ TEST_F(SequentialCompressionWriterTest, writer_call_metadata_update_on_open_and_

EXPECT_CALL(*storage_, update_metadata(_)).Times(2);
writer_->open(tmp_dir_storage_options_);
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down Expand Up @@ -323,7 +323,7 @@ TEST_F(SequentialCompressionWriterTest, writer_call_metadata_update_on_bag_split

EXPECT_CALL(*storage_, update_metadata(_)).Times(4);
writer_->open(tmp_dir_storage_options_);
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down Expand Up @@ -370,7 +370,7 @@ TEST_P(SequentialCompressionWriterTest, writer_writes_with_compression_queue_siz
initializeWriter(compression_options);

writer_->open(tmp_dir_storage_options_);
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down
2 changes: 1 addition & 1 deletion rosbag2_cpp/src/rosbag2_cpp/reindexer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,7 +208,7 @@ void Reindexer::aggregate_metadata(
ROSBAG2_CPP_LOG_DEBUG_STREAM("Found topic!");
// Merge in the new information
found_topic->second.message_count += topic.message_count;
if (topic.topic_metadata.offered_qos_profiles != "") {
if (!topic.topic_metadata.offered_qos_profiles.empty()) {
found_topic->second.topic_metadata.offered_qos_profiles =
topic.topic_metadata.offered_qos_profiles;
}
Expand Down
2 changes: 1 addition & 1 deletion rosbag2_cpp/test/rosbag2_cpp/fake_data.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ void write_sample_split_bag(
topic_name,
"test_msgs/msg/ByteMultiArray",
"cdr",
"",
{},
""
},
{
Expand Down
22 changes: 14 additions & 8 deletions rosbag2_cpp/test/rosbag2_cpp/test_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, read_metadata_supports_version_2)
{
const auto actual_first_topic = metadata.topics_with_message_count[0];
const auto expected_first_topic =
rosbag2_storage::TopicInformation{{"topic1", "type1", "rmw1", "", ""}, 100};
rosbag2_storage::TopicInformation{{"topic1", "type1", "rmw1", {}, ""}, 100};

EXPECT_EQ(actual_first_topic.topic_metadata, expected_first_topic.topic_metadata);
EXPECT_EQ(actual_first_topic.message_count, expected_first_topic.message_count);
Expand All @@ -95,7 +95,7 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, read_metadata_supports_version_2)
{
const auto actual_second_topic = metadata.topics_with_message_count[1];
const auto expected_second_topic =
rosbag2_storage::TopicInformation{{"topic2", "type2", "rmw2", "", ""}, 200};
rosbag2_storage::TopicInformation{{"topic2", "type2", "rmw2", {}, ""}, 200};

EXPECT_EQ(actual_second_topic.topic_metadata, expected_second_topic.topic_metadata);
EXPECT_EQ(actual_second_topic.message_count, expected_second_topic.message_count);
Expand All @@ -121,13 +121,19 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, read_metadata_supports_version_6)
" name: topic1\n"
" type: type1\n"
" serialization_format: rmw1\n"
" offered_qos_profiles: default\n"
" offered_qos_profiles: \"- history: 1\\n depth: 1\\n reliability: 1\\n durability: "
"2\\n deadline:\\n sec: 0\\n nsec: 0\\n lifespan:\\n sec: 0\\n nsec: 0\\n "
"liveliness: 0\\n liveliness_lease_duration:\\n sec: 0\\n nsec: 0\\n "
"avoid_ros_namespace_conventions: false\"\n"
" message_count: 100\n"
" - topic_metadata:\n"
" name: topic2\n"
" type: type2\n"
" serialization_format: rmw2\n"
" offered_qos_profiles: default\n"
" offered_qos_profiles: \"- history: 1\\n depth: 1\\n reliability: 1\\n durability: "
"2\\n deadline:\\n sec: 0\\n nsec: 0\\n lifespan:\\n sec: 0\\n nsec: 0\\n "
"liveliness: 0\\n liveliness_lease_duration:\\n sec: 0\\n nsec: 0\\n "
"avoid_ros_namespace_conventions: false\"\n"
" message_count: 200\n"
" compression_format: \"zstd\"\n"
" compression_mode: \"FILE\"\n"
Expand Down Expand Up @@ -186,7 +192,7 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, read_metadata_supports_version_6)
{
const auto actual_first_topic = metadata.topics_with_message_count[0];
const auto expected_first_topic =
rosbag2_storage::TopicInformation{{"topic1", "type1", "rmw1", "", ""}, 100};
rosbag2_storage::TopicInformation{{"topic1", "type1", "rmw1", {}, ""}, 100};

EXPECT_EQ(actual_first_topic.topic_metadata, expected_first_topic.topic_metadata);
EXPECT_EQ(actual_first_topic.message_count, expected_first_topic.message_count);
Expand All @@ -195,7 +201,7 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, read_metadata_supports_version_6)
{
const auto actual_second_topic = metadata.topics_with_message_count[1];
const auto expected_second_topic =
rosbag2_storage::TopicInformation{{"topic2", "type2", "rmw2", "", ""}, 200};
rosbag2_storage::TopicInformation{{"topic2", "type2", "rmw2", {}, ""}, 200};

EXPECT_EQ(actual_second_topic.topic_metadata, expected_second_topic.topic_metadata);
EXPECT_EQ(actual_second_topic.message_count, expected_second_topic.message_count);
Expand Down Expand Up @@ -256,7 +262,7 @@ TEST_P(
EXPECT_THAT(read_metadata.topics_with_message_count, SizeIs(2u));
auto actual_first_topic = read_metadata.topics_with_message_count[0];
rosbag2_storage::TopicInformation expected_first_topic =
{{"topic1", "type1", "rmw1", "", ""}, 100};
{{"topic1", "type1", "rmw1", {}, ""}, 100};
EXPECT_THAT(
actual_first_topic.topic_metadata.name,
Eq(expected_first_topic.topic_metadata.name));
Expand All @@ -269,7 +275,7 @@ TEST_P(
EXPECT_THAT(actual_first_topic.message_count, Eq(expected_first_topic.message_count));
auto actual_second_topic = read_metadata.topics_with_message_count[1];
rosbag2_storage::TopicInformation expected_second_topic =
{{"topic2", "type2", "rmw2", "", ""}, 200};
{{"topic2", "type2", "rmw2", {}, ""}, 200};
EXPECT_THAT(
actual_second_topic.topic_metadata.name,
Eq(expected_second_topic.topic_metadata.name));
Expand Down
2 changes: 1 addition & 1 deletion rosbag2_cpp/test/rosbag2_cpp/test_multifile_reader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ class MultifileReaderTest : public Test
auto metadata = get_metadata();

auto topic_with_type = rosbag2_storage::TopicMetadata{
"topic", "test_msgs/BasicTypes", storage_serialization_format_, "", ""};
"topic", "test_msgs/BasicTypes", storage_serialization_format_, {}, ""};
auto topics_and_types = std::vector<rosbag2_storage::TopicMetadata>{topic_with_type};
metadata.topics_with_message_count.push_back({topic_with_type, 10});

Expand Down
24 changes: 12 additions & 12 deletions rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ TEST_F(
auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = "test_topic";
writer_->open(storage_options_, {input_format, storage_serialization_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});
writer_->write(message);
}

Expand All @@ -147,7 +147,7 @@ TEST_F(SequentialWriterTest, write_does_not_use_converters_if_input_and_output_f
auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = "test_topic";
writer_->open(storage_options_, {storage_serialization_format, storage_serialization_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});
writer_->write(message);
}

Expand Down Expand Up @@ -175,7 +175,7 @@ TEST_F(SequentialWriterTest, sequantial_writer_call_metadata_update_on_open_and_

std::string rmw_format = "rmw_format";
writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down Expand Up @@ -204,7 +204,7 @@ TEST_F(SequentialWriterTest, sequantial_writer_call_metadata_update_on_bag_split

std::string rmw_format = "rmw_format";
writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({test_topic_name, test_topic_type, "", "", ""});
writer_->create_topic({test_topic_name, test_topic_type, "", {}, ""});

auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->topic_name = test_topic_name;
Expand Down Expand Up @@ -283,7 +283,7 @@ TEST_F(SequentialWriterTest, bagfile_size_is_checked_on_every_write) {
storage_options_.max_bagfile_size = max_bagfile_size;

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0; i < counter; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -333,7 +333,7 @@ TEST_F(SequentialWriterTest, writer_splits_when_storage_bagfile_size_gt_max_bagf
storage_options_.max_bagfile_size = max_bagfile_size;

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0; i < message_count; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -411,7 +411,7 @@ TEST_F(
storage_options_.snapshot_mode = false;

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

auto timeout = std::chrono::seconds(2);
for (auto i = 1u; i < message_count; ++i) {
Expand Down Expand Up @@ -491,7 +491,7 @@ TEST_F(SequentialWriterTest, do_not_use_cache_if_cache_size_is_zero) {
storage_options_.max_cache_size = max_cache_size;

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0u; i < counter; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -525,7 +525,7 @@ TEST_F(SequentialWriterTest, snapshot_mode_write_on_trigger)
msg_content.c_str(), msg_length);

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0u; i < 100; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -561,7 +561,7 @@ TEST_F(SequentialWriterTest, snapshot_mode_not_triggered_no_storage_write)
msg_content.c_str(), msg_length);

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0u; i < 100; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -630,7 +630,7 @@ TEST_F(SequentialWriterTest, split_event_calls_callback)
writer_->add_event_callbacks(callbacks);

writer_->open(storage_options_, {"rmw_format", "rmw_format"});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0; i < message_count; ++i) {
writer_->write(message);
Expand Down Expand Up @@ -689,7 +689,7 @@ TEST_F(SequentialWriterTest, split_event_calls_on_writer_close)
writer_->add_event_callbacks(callbacks);

writer_->open(storage_options_, {"rmw_format", "rmw_format"});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", "", ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", {}, ""});

for (auto i = 0; i < message_count; ++i) {
writer_->write(message);
Expand Down
2 changes: 1 addition & 1 deletion rosbag2_cpp/test/rosbag2_cpp/test_storage_without_metadata_file.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ TEST_F(StorageWithoutMetadataFileTest, open_uses_storage_id_from_storage_options
"topic",
"test_msgs/BasicTypes",
kRmwFormat,
"",
{},
""
};

Expand Down
2 changes: 1 addition & 1 deletion rosbag2_examples/rosbag2_examples_cpp/src/data_generator_executable.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ int main(int, char **)
"synthetic",
"example_interfaces/msg/Int32",
rmw_get_serialization_format(),
"",
{},
""
});

Expand Down
2 changes: 1 addition & 1 deletion rosbag2_examples/rosbag2_examples_cpp/src/data_generator_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ class DataGenerator : public rclcpp::Node
"synthetic",
"example_interfaces/msg/Int32",
rmw_get_serialization_format(),
"",
{},
"",
});

Expand Down
61 changes: 59 additions & 2 deletions rosbag2_py/src/rosbag2_py/_storage.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include "rosbag2_storage/storage_interfaces/base_read_interface.hpp"
#include "rosbag2_storage/storage_options.hpp"
#include "rosbag2_storage/topic_metadata.hpp"
#include "rosbag2_storage/qos.hpp"

#include "./format_bag_metadata.hpp"

Expand Down Expand Up @@ -152,13 +153,69 @@ PYBIND11_MODULE(_storage, m) {
&rosbag2_storage::MessageDefinition::encoded_message_definition)
.def_readwrite("type_hash", &rosbag2_storage::MessageDefinition::type_hash);

pybind11::enum_<rmw_qos_history_policy_t>(m, "rmw_qos_history_policy_t")
.value("RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT", RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT)
.value("RMW_QOS_POLICY_HISTORY_KEEP_LAST", RMW_QOS_POLICY_HISTORY_KEEP_LAST)
.value("RMW_QOS_POLICY_HISTORY_KEEP_ALL", RMW_QOS_POLICY_HISTORY_KEEP_ALL)
.value("RMW_QOS_POLICY_HISTORY_UNKNOWN", RMW_QOS_POLICY_HISTORY_UNKNOWN);

pybind11::enum_<rmw_qos_reliability_policy_t>(m, "rmw_qos_reliability_policy_t")
.value("RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT", RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT)
.value("RMW_QOS_POLICY_RELIABILITY_RELIABLE", RMW_QOS_POLICY_RELIABILITY_RELIABLE)
.value("RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT", RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT)
.value("RMW_QOS_POLICY_RELIABILITY_UNKNOWN", RMW_QOS_POLICY_RELIABILITY_UNKNOWN);

pybind11::enum_<rmw_qos_durability_policy_t>(m, "rmw_qos_durability_policy_t")
.value("RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT", RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT)
.value("RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL", RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL)
.value("RMW_QOS_POLICY_DURABILITY_VOLATILE", RMW_QOS_POLICY_DURABILITY_VOLATILE)
.value("RMW_QOS_POLICY_DURABILITY_UNKNOWN", RMW_QOS_POLICY_DURABILITY_UNKNOWN);


pybind11::enum_<rmw_qos_liveliness_policy_t>(m, "rmw_qos_liveliness_policy_t")
.value("RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT", RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT)
.value("RMW_QOS_POLICY_LIVELINESS_AUTOMATIC", RMW_QOS_POLICY_LIVELINESS_AUTOMATIC)
.value("RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC", RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
.value("RMW_QOS_POLICY_LIVELINESS_UNKNOWN", RMW_QOS_POLICY_LIVELINESS_UNKNOWN);

pybind11::class_<rclcpp::Duration>(m, "Duration")
.def(
pybind11::init<int32_t, uint32_t>(),
pybind11::arg("seconds"),
pybind11::arg("nanoseconds"));

pybind11::class_<rclcpp::QoS>(m, "QoS")
.def(
pybind11::init<size_t>(),
pybind11::arg("history_depth"))
.def("keep_last", &rclcpp::QoS::keep_last)
.def("keep_all", &rclcpp::QoS::keep_all)
.def("reliable", &rclcpp::QoS::reliable)
.def("best_effort", &rclcpp::QoS::best_effort)
.def("durability_volatile", &rclcpp::QoS::durability_volatile)
.def("transient_local", &rclcpp::QoS::transient_local)
.def("history", pybind11::overload_cast<rmw_qos_history_policy_t>(&rclcpp::QoS::history))
.def(
"reliability",
pybind11::overload_cast<rmw_qos_reliability_policy_t>(&rclcpp::QoS::reliability))
.def("durability", pybind11::overload_cast<rmw_qos_durability_policy_t>(&rclcpp::QoS::durability))
.def("liveliness", pybind11::overload_cast<rmw_qos_liveliness_policy_t>(&rclcpp::QoS::liveliness))
.def("deadline", pybind11::overload_cast<const rclcpp::Duration &>(&rclcpp::QoS::deadline))
.def("lifespan", pybind11::overload_cast<const rclcpp::Duration &>(&rclcpp::QoS::lifespan))
.def(
"liveliness_lease_duration",
pybind11::overload_cast<const rclcpp::Duration &>(&rclcpp::QoS::liveliness_lease_duration))
.def(
"avoid_ros_namespace_conventions",
pybind11::overload_cast<bool>(&rclcpp::QoS::avoid_ros_namespace_conventions));

pybind11::class_<rosbag2_storage::TopicMetadata>(m, "TopicMetadata")
.def(
pybind11::init<std::string, std::string, std::string, std::string, std::string>(),
pybind11::init<std::string, std::string, std::string, std::vector<rclcpp::QoS>, std::string>(),
pybind11::arg("name"),
pybind11::arg("type"),
pybind11::arg("serialization_format"),
pybind11::arg("offered_qos_profiles") = "",
pybind11::arg("offered_qos_profiles") = std::vector<rclcpp::QoS>(),
pybind11::arg("type_description_hash") = "")
.def_readwrite("name", &rosbag2_storage::TopicMetadata::name)
.def_readwrite("type", &rosbag2_storage::TopicMetadata::type)
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2 changes: 1 addition & 1 deletion rosbag2_py/src/rosbag2_py/_transport.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -295,7 +295,7 @@ void bag_rewrite(
rosbag2_storage::StorageOptions storage_options{};
YAML::convert<rosbag2_storage::StorageOptions>::decode(bag_node, storage_options);
rosbag2_transport::RecordOptions record_options = bag_rewrite_default_record_options();
YAML::convert<rosbag2_transport::RecordOptions>::decode(bag_node, record_options);
record_options = bag_node.as<rosbag2_transport::RecordOptions>();
output_options.push_back(std::make_pair(storage_options, record_options));
}
rosbag2_transport::bag_rewrite(input_options, output_options);
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