PR realsenseai#15054 from AviaAv: Support playback of native ROS2 .db3 recordings

Author: remibettan

common/stream-model.cpp

@@ -1001,13 +1001,20 @@ namespace rs2
 
 
         //add_descriptions_for_d500_metadata_fields(descriptions);
-        std::string pid = this->dev->dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
-        if (pid == "0B6B")
-            add_d585S_metadata_descriptions(descriptions);
-        
-        std::string connection_type =  this->dev->dev.get_info(RS2_CAMERA_INFO_CONNECTION_TYPE);
-        if (connection_type == "DDS")
-            add_dds_metadata_descriptions(descriptions);
+        std::string pid;
+        if (dev)
+        {
+            pid = dev->dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
+            if (pid == "0B6B")
+                add_d585S_metadata_descriptions(descriptions);
+
+            if (dev->dev.supports(RS2_CAMERA_INFO_CONNECTION_TYPE))
+            {
+                std::string connection_type = dev->dev.get_info(RS2_CAMERA_INFO_CONNECTION_TYPE);
+                if (connection_type == "DDS")
+                    add_dds_metadata_descriptions(descriptions);
+            }
+        }
 
         for (auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++)
         {

src/media/CMakeLists.txt

@@ -33,8 +33,12 @@ if(BUILD_ROSBAG2)
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_file_format.h"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_writer.h"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_writer.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_reader_base.h"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_reader_base.cpp"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_reader.h"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_reader.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_native_reader.h"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2_native_reader.cpp"
             # ROS2 message types for CDR serialization
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/builtin_interfaces/msg/Time.h"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/builtin_interfaces/msg/Time.cpp"
@@ -48,5 +52,9 @@ if(BUILD_ROSBAG2)
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/Image.cpp"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/Imu.h"
             "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/Imu.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/RegionOfInterest.h"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/RegionOfInterest.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/CameraInfo.h"
+            "${CMAKE_CURRENT_LIST_DIR}/ros2/ros2-msg-types/sensor_msgs/msg/CameraInfo.cpp"
     )
 endif()