rosbag support

[ahans]

Hey, how am I supposed to record rosbags with custom types? With a "standard" ROS installed alongside it doesn't work, since ROSBAG2_TRANSPORT complains about unknown types. Briefly checking the code it looks like it wants something like libmytypes_msgs__rosidl_typesupport_cpp.so. Are there plans on how to support something like that?

[mvukov]

Hello, I am working on a rosbag support. To answer your first question: I need to figure this out yet :)

[ahans]

Do you have your current state on a branch somewhere? Maybe I could help. I think a good approach would be one that is similar to what you did for ros2 topic support. Then we could have a target that accepts a list of types and runs ros2 bag in a way that they are available.

[mvukov]

Looks like rosbag stuff heavily depends on pluginlib (and therefore on ament_index_cpp). I plan to work out some Bazel functionality to create a file structure such that ament_index_cpp can find what pluginlib asks for. We'll probably also need shared libs, like you mentioned libmytypes_msgs__rosidl_typesupport_cpp.so: we already have C++ IDL libraries, the job would be to extract the shared library. Please share your ideas. :)

Once that works, pluginlib and rosbag should work 🤞. The current work in in feature/pluginlib branch. Eventually, it would be nice to have a high level target/macro ros2_bag.

[mvukov]

rosbag stuff is getting into shape. It requires a bit more work to become functional.

[mvukov]

In #47 we added rosbag2 support.

[thomasegriffith]

For vis, see #50 for another approach