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Support for latching #129

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DensoADAS opened this issue Jun 11, 2019 · 3 comments
Closed

Support for latching #129

DensoADAS opened this issue Jun 11, 2019 · 3 comments
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enhancement New feature or request

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@DensoADAS
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Required Info:

  • Operating System:
    • Ubuntu 18.04
  • Installation type:
    • source
  • Version or commit hash:
    • Dashing
  • DDS implementation:
    • Fast-RTPS

Expected behavior
I would be nice if messages published with the durability profile transient_local would be recorded with a subscriber that also uses the durability profile transient_local, so that messages published before the start of the recording get also recorded. This messages should then also be played back using the profile transient_local in order to keep up the latching behavior.

@Karsten1987 Karsten1987 added the enhancement New feature or request label Jun 17, 2019
@Karsten1987
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This is related to #125 in a way that there is currently no direct way to obtain the QoS parameters solely given a topic name. The subscriber has to know the correct QoS settings a priori.

One workaround, same as for unreliable connections is to introduce keywords within the command line tool to manually specify which topics are reliable, unreliable or latched.
Something like:

ros2 bag record <reliable_topic1> <reliable_topic2> --unreliable <unreliable_topic1> <unreliable_topic2> --latched <latched_topic1> <latched_topic2>

Does this sound feasible to you?

@DensoADAS
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Thanks
That is probably a good workaround, since there seems to be no other solution until ros2/rmw#151 is resolved. But it would still be important to have this feature in the end.

thomas-moulard pushed a commit to thomas-moulard/rosbag2 that referenced this issue Oct 22, 2019
* ros2GH-138 Move calculation of bag size

- previously in rosbag2::Info
- now in storage plugin

* ros2GH-130 Add rosbag2_bag_v2_plugins package

-This package will contain storage and converter plugins

* ros2GH-131 don't build plugins on Windows

* ros2GH-129 Add function to be generated

- massive if/else between all message types
- will be generated similar to ros1_bridge plugin

* ros2GH-138 Write storage plugin for rosbag v2 bags

* ros2GH-138 Make sure that no attempt to create a converter is made when trying to read a rsbag v2 bag file

* ros2GH-138 Add play end-to-end test for rosbag v2 plugin

* ros2GH-138 Use cmake files to find ros1 packages

- Use files from ros1_bridge via PkgConfig

* ros2GH-138 Add generator code

* ros2GH-141 Add initial version of vendor package

* ros2GH-141 Improve vendor package to build on Mac

* ros2GH-138 Cleanup CMakeLists

* ros2GH-141 Use unmanaged Instance of class-loader

- managed instance somehow isn't available for gcc 6.3

* ros2GH-141 Reduce patch and copy new toplevle CMakeLists by hand

* ros2GH-141 Fix Shared Instance usage

* ros2GH-141 Improve maintainability of vendor package

- Document what patches do and why changes are necessary
- Load ros1 packages through cmake macro
- Do not export ros1 packages via ament
- use commit hash of current master which is more stable than using melodic-devel

* ros2GH-138 Link against rclcpp - necessary for ros1_bridge

* ros2GH-138 Avoid crash when trying to play v2 bags which contain unknown message types

* ros2GH-138 Add CLI -s <storage_id> option to ros2 bag info and use it in rosbag2::info

- this allows ros2 bag info to work also when the yaml metadata file does not exsist
- this is always the case for rosbag1 bagfiles
- it could also happen for sqlite or other storage based bagfiles

* ros2GH-138 Add end-to-end info test for rosbag v2 files

* ros2GH-138 Add unit tests to rosbag_storage

* ros2GH-138 Add method to extract filename from path to FilesystemHelpers

* ros2GH-138 Add proper logging for topics which cannot be converted

* ros2GH-138 Improve finding dependencies of ros1

* ros2GH-141 Explicitly import transitive dependencies of vendor package

* ros2GH-138 Skip tests via ament if ros1 is not available

* ros2GH-133 First split of plugins

* ros2GH-133 Write serialized rosbag message

* ros2GH-133 Improve converter plugin

- move generation templates outside of plugin folders as both
  plugins need it
- use ros::serialization routines to deserialize the ros message

* ros2GH-133 Add plugin to be found by pluginlib

* ros2GH-133 Remove empty check in converter

- With the rosbag_v2_converter_plugin, we don't need to treat
  rosbag_v2 storage any different

* ros2GH-133 Assert serialization format in unit tests for storage

* ros2GH-133 Delete superfluous include folder

- Only needed if we want to link against the library

* ros2GH-133 get_all_topics_and_types returns only valid ros2 types

- This is necessary as the information is used by rosbag2_transport
- ros2 bag info still shows all topics and types
- rosbag::View::getConnections() can return multiple connections corresponding to the same topic

* ros2GH-133 Improve end to end test

- use a bagfile with messages not known to ros2

* ros2GH-133 Reformulate info message in case of missing ros1-ros2 mapping for a topic

* ros2GH-14 Find messages first

* Explicitly print message when on Windows

Co-Authored-By: Martin-Idel-SI <external.Martin.Idel@bosch-si.com>

* ros2GH-14 Refactor rosbag_storage vendor package

- Improve toplevel CMakeLists
- Put all patches into a resource subfolder

* ros2GH-14 Reflect renames of converter interfaces

* ros2GH-156 Workaround for path problems

* ros2GH-156 Add documentation for plugin

* ros2GH-156 Fix the pluginlib version to greater 2

* ros2GH-156 Prohibit CMake from declaring paths as system paths

This switches the order of ros2 and ros1 directories
resulting in build failures

* ros2GH-156 Prohibit system include paths for rosbag plugins

This can lead to switching ros1 and ros2 include paths resulting
in missing symbols as the wrong pluginlib gets included

* ros2GH-14 Split patches

* make README more verbose

* add plugin specific readme

* more readme for bag_v2 plugin
@emersonknapp
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This functionality will be handled by #125, closing as duplicate

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