Added method to introspect QoS in Python (#1648)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

rosbag2_py/rosbag2_py/__init__.py

@@ -44,6 +44,7 @@
         StorageOptions,
         TopicMetadata,
         TopicInformation,
+        convert_rclcpp_qos_to_rclpy_qos,
         get_default_storage_id,
         to_rclcpp_qos_vector,
     )
@@ -71,6 +72,7 @@
 
 __all__ = [
     'bag_rewrite',
+    'convert_rclcpp_qos_to_rclpy_qos',
     'CompressionMode',
     'CompressionOptions',
     'compression_mode_from_string',

rosbag2_py/rosbag2_py/__init__.pyi

@@ -3,8 +3,8 @@ from rosbag2_py._info import Info as Info
 from rosbag2_py._message_definitions import LocalMessageDefinitionSource as LocalMessageDefinitionSource
 from rosbag2_py._reader import SequentialCompressionReader as SequentialCompressionReader, SequentialReader as SequentialReader, get_registered_readers as get_registered_readers
 from rosbag2_py._reindexer import Reindexer as Reindexer
-from rosbag2_py._storage import BagMetadata as BagMetadata, ConverterOptions as ConverterOptions, FileInformation as FileInformation, MessageDefinition as MessageDefinition, MetadataIo as MetadataIo, ReadOrder as ReadOrder, ReadOrderSortBy as ReadOrderSortBy, StorageFilter as StorageFilter, StorageOptions as StorageOptions, TopicInformation as TopicInformation, TopicMetadata as TopicMetadata, get_default_storage_id as get_default_storage_id, to_rclcpp_qos_vector as to_rclcpp_qos_vector
+from rosbag2_py._storage import BagMetadata as BagMetadata, ConverterOptions as ConverterOptions, FileInformation as FileInformation, MessageDefinition as MessageDefinition, MetadataIo as MetadataIo, ReadOrder as ReadOrder, ReadOrderSortBy as ReadOrderSortBy, StorageFilter as StorageFilter, StorageOptions as StorageOptions, TopicInformation as TopicInformation, TopicMetadata as TopicMetadata, convert_rclcpp_qos_to_rclpy_qos as convert_rclcpp_qos_to_rclpy_qos, get_default_storage_id as get_default_storage_id, to_rclcpp_qos_vector as to_rclcpp_qos_vector
 from rosbag2_py._transport import PlayOptions as PlayOptions, Player as Player, RecordOptions as RecordOptions, Recorder as Recorder, ServiceRequestsSource as ServiceRequestsSource, bag_rewrite as bag_rewrite
 from rosbag2_py._writer import SequentialCompressionWriter as SequentialCompressionWriter, SequentialWriter as SequentialWriter, get_registered_compressors as get_registered_compressors, get_registered_serializers as get_registered_serializers, get_registered_writers as get_registered_writers
 
-__all__ = ['bag_rewrite', 'CompressionMode', 'CompressionOptions', 'compression_mode_from_string', 'compression_mode_to_string', 'ConverterOptions', 'FileInformation', 'get_default_storage_id', 'get_registered_readers', 'get_registered_writers', 'get_registered_compressors', 'get_registered_serializers', 'to_rclcpp_qos_vector', 'ReadOrder', 'ReadOrderSortBy', 'Reindexer', 'SequentialCompressionReader', 'SequentialCompressionWriter', 'SequentialReader', 'SequentialWriter', 'StorageFilter', 'StorageOptions', 'TopicMetadata', 'TopicInformation', 'BagMetadata', 'MessageDefinition', 'MetadataIo', 'Info', 'Player', 'PlayOptions', 'ServiceRequestsSource', 'Recorder', 'RecordOptions', 'LocalMessageDefinitionSource']
+__all__ = ['bag_rewrite', 'convert_rclcpp_qos_to_rclpy_qos', 'CompressionMode', 'CompressionOptions', 'compression_mode_from_string', 'compression_mode_to_string', 'ConverterOptions', 'FileInformation', 'get_default_storage_id', 'get_registered_readers', 'get_registered_writers', 'get_registered_compressors', 'get_registered_serializers', 'to_rclcpp_qos_vector', 'ReadOrder', 'ReadOrderSortBy', 'Reindexer', 'SequentialCompressionReader', 'SequentialCompressionWriter', 'SequentialReader', 'SequentialWriter', 'StorageFilter', 'StorageOptions', 'TopicMetadata', 'TopicInformation', 'BagMetadata', 'MessageDefinition', 'MetadataIo', 'Info', 'Player', 'PlayOptions', 'ServiceRequestsSource', 'Recorder', 'RecordOptions', 'LocalMessageDefinitionSource']

rosbag2_py/rosbag2_py/_storage.pyi

@@ -196,5 +196,6 @@ class rmw_qos_reliability_policy_t:
     @property
     def value(self) -> int: ...
 
+def convert_rclcpp_qos_to_rclpy_qos(arg0: QoS) -> object: ...
 def get_default_storage_id() -> str: ...
 def to_rclcpp_qos_vector(arg0: str, arg1: int) -> List[QoS]: ...

rosbag2_py/src/rosbag2_py/_storage.cpp

@@ -391,6 +391,36 @@ PYBIND11_MODULE(_storage, m) {
     &rosbag2_storage::to_rclcpp_qos_vector,
     "Convert QoS in YAML to std::vector<QoS>");
 
+  m.def(
+    "convert_rclcpp_qos_to_rclpy_qos",
+    [](rclcpp::QoS qos_input) {
+      pybind11::object rclcpy_qos = pybind11::module_::import("rclpy.qos");
+      pybind11::object rclcpy_duration = pybind11::module_::import("rclpy.duration");
+      pybind11::object duration_lifespan = rclcpy_qos.attr("Duration")(
+        "seconds"_a = qos_input.lifespan().to_rmw_time().sec,
+        "nanoseconds"_a = qos_input.lifespan().to_rmw_time().nsec);
+      pybind11::object duration_deadline = rclcpy_qos.attr("Duration")(
+        "seconds"_a = qos_input.deadline().to_rmw_time().sec,
+        "nanoseconds"_a = qos_input.deadline().to_rmw_time().nsec);
+      pybind11::object duration_liveliness_lease_duration = rclcpy_qos.attr("Duration")(
+        "seconds"_a = qos_input.liveliness_lease_duration().to_rmw_time().sec,
+        "nanoseconds"_a = qos_input.liveliness_lease_duration().to_rmw_time().nsec);
+
+      pybind11::object qos_profile = rclcpy_qos.attr("QoSProfile")(
+        "depth"_a = qos_input.depth(),
+        "history"_a = static_cast<int>(qos_input.history()),
+        "reliability"_a = static_cast<int>(qos_input.reliability()),
+        "durability"_a = static_cast<int>(qos_input.durability()),
+        "lifespan"_a = duration_lifespan,
+        "deadline"_a = duration_deadline,
+        "liveliness"_a = static_cast<int>(qos_input.liveliness()),
+        "liveliness_lease_duration"_a = duration_liveliness_lease_duration,
+        "avoid_ros_namespace_conventions"_a = qos_input.avoid_ros_namespace_conventions());
+
+      return qos_profile;
+    },
+    "Converts rclcpp::QoS to rclpy.qos");
+
   pybind11::class_<rosbag2_storage::MetadataIo>(m, "MetadataIo")
   .def(pybind11::init<>())
   .def("write_metadata", &rosbag2_storage::MetadataIo::write_metadata)

rosbag2_py/src/rosbag2_py/pybind11.hpp

@@ -27,5 +27,6 @@
 #endif
 #include <pybind11/stl.h>
 #include <pybind11/chrono.h>
+#include <pybind11/embed.h>
 
 #endif  // ROSBAG2_PY__PYBIND11_HPP_