[WIP] Make Player a rosbag2 component (instead of rosbag2_transport
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roncapat
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rosbag2 componentrosbag2 component (instead of rosbag2_transport
MichaelOrlov
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rosbag2 component (instead of rosbag2_transportrosbag2 component (instead of rosbag2_transport
Signed-off-by: Patrick Roncagliolo <[email protected]>
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@MichaelOrlov may I ask if you are still interested in this, and if the proposed method is ok for you, so I can apply the same strategy for Recorder?? |
- Cleanups in CMakeLists.txt - Expose only the necessary constructors in rosbag2::player - Add visibility control - Add missing dependencies in package.xml - Add component_player.hpp file Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
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Hi @roncapat, Yes, I am still interested in this PR.
However, it is too long to describe what needs to be changed.
Instead, I did prototyping and made a couple of direct commits to your branch. Please see c00bf42 and 4f6414e
Please review the changes and feel free to add a composable_recorder.{hpp}cpp file in a similar way.
I've tested loading a new composable rosbag2::Plyer in my local setup and can confirm that it is compiles and runs as expected. However, it would be good to add some unit tests.
To test it I ran in one terminal
ros2 run rclcpp_components component_containerin another terminal
ros2 component load /ComponentManager rosbag2 rosbag2::Player -p storage.uri:=/recordings/talker/talker.mcap -p play.loop:=trueAfter that, you can try to run ros2 component list and ros2 topic echo /topic to make sure that rosbag2::Player composable node is up and running.
I took talker.mcap from the https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/resources/mcap/talker/talker.mcap
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| # rosbag2_transport::Player composable node is deprecated. Please use rosbag2::Player instead | |||
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@clalancette Do you have any idea how to deprecate early added "rosbag2_transport::Player" registered rclcpp component node from further usage?
Signed-off-by: Michael Orlov <[email protected]>
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@MichaelOrlov looks nice to me! As soon as I have a bit of time, I will do the same for Recorder class. |
Closes #1736
This is a proposal to address https://github.com/ros2/rosbag2/pull/1510/files#r1484600093.
CC @MichaelOrlov @fujitatomoya
NOTE: I compiled it and the component gets correclty exposed via
ros2 component typesbut I haven't tested it yet.If it works, I extend it also to
Recorderand then it's ready for merge.