Fix smart pointer constructor & future result usage

.github/actions/aws-mfa-login/action.yml

@@ -0,0 +1,49 @@
+name: aws-mfa-login
+author: [email protected]
+description: mfa login for aws
+
+inputs:
+  access_key_id: 
+    description: 'AWS access key id'
+    required: true
+  secret_access_key:
+    description: 'AWS access secret key'
+    required: true
+  mfa_key:
+    description: 'MFA Key'
+    required: true
+  mfa_arn:
+    description: 'MFA arn'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - run: sudo apt install awscli -y
+      shell: bash
+
+    - run: sudo -S -k apt-get install -y oathtool jq
+      shell: bash
+
+    - uses: aws-actions/configure-aws-credentials@v1
+      with:
+        aws-access-key-id: ${{ inputs.access_key_id }}
+        aws-secret-access-key: ${{ inputs.secret_access_key }}
+        aws-region: ap-northeast-2
+
+    - run: |
+        token=$(oathtool -b --totp ${{ inputs.mfa_key }})
+        aws sts get-session-token --duration-seconds 36000 --serial-number ${{ inputs.mfa_arn }} --token-code $token  > mfa-temp.json
+        accessKeyId=$(cat mfa-temp.json | jq -r .Credentials.AccessKeyId)
+        secretAccessKey=$(cat mfa-temp.json | jq -r .Credentials.SecretAccessKey)
+        sessionToken=$(cat mfa-temp.json | jq -r .Credentials.SessionToken)
+        echo ${accessKeyId}
+        echo ${secretAccessKey}
+        echo ${sessionToken}
+        aws configure set aws_access_key_id $accessKeyId
+        aws configure set aws_secret_access_key $secretAccessKey
+        aws configure set aws_session_token $sessionToken
+        aws configure set region ap-northeast-2
+      shell: bash
+    - run: aws sts get-caller-identity
+      shell: bash

.github/actions/floatic-ppa-access/action.yml

@@ -0,0 +1,31 @@
+name: floatic-ppa-access
+author: [email protected]
+description: ppa server inbound setting
+
+inputs:
+  target_group_name:
+    description: "aws ec2 scurity group name"
+    required: true
+
+  protocol:
+    description: "inbound protocol"
+    required: true
+    default: tcp
+
+  port:
+    description: "inbound port"
+    required: true
+    default: 443
+
+runs:
+  using: "composite"
+  steps:
+    - id: get_public_ip
+      uses: haythem/[email protected]
+
+    - run: aws ec2 authorize-security-group-ingress --group-name ${{ inputs.target_group_name }} --protocol ${{ inputs.protocol }} --port ${{ inputs.port }} --cidr ${{ steps.get_public_ip.outputs.ipv4 }}/32
+      shell: bash
+
+    - uses: webiny/[email protected]
+      with:
+        run: aws ec2 revoke-security-group-ingress --group-name ${{ inputs.target_group_name }} --protocol ${{ inputs.protocol }} --port ${{ inputs.port }} --cidr ${{ steps.get_public_ip.outputs.ipv4 }}/32

.github/workflows/cd.yml

@@ -0,0 +1,77 @@
+name: CD
+on:
+  push:
+    tags:
+      - v*
+
+jobs:
+  ecr_setting:
+    # if: contains(github.event.comment.html_url, '/pull/') && contains(github.event.comment.body, '/deploy')
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: AWS Mfa login
+        uses: ./.github/actions/aws-mfa-login
+        with:
+          access_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          mfa_key: ${{ secrets.MFA_KEY }}
+          mfa_arn: ${{ secrets.MFA_ARN }}
+
+      - id: get_ecr_password
+        name: Get ECR password
+        run: |
+          PROIFLE_REGION=$(aws configure get region)
+          ECR_PASSWORD=$(aws ecr get-login-password --region $PROIFLE_REGION)
+          echo "ECR_PASSWORD=$ECR_PASSWORD" >> $GITHUB_OUTPUT
+    outputs:
+      ecr_password: ${{ steps.get_ecr_password.outputs.ECR_PASSWORD }}
+
+  debian_build:
+    needs: ecr_setting
+    runs-on: ubuntu-latest
+    container:
+      image: 557571393534.dkr.ecr.ap-northeast-2.amazonaws.com/floom
+      credentials:
+        username: AWS
+        password: ${{ needs.ecr_setting.outputs.ecr_password }}
+    steps:
+      - name: Update dist
+        run: sudo apt update
+
+      - uses: actions/checkout@v3
+        with:
+          path: 'flody_ws/etc/'
+
+      - name: AWS Mfa login
+        uses: ./flody_ws/etc/.github/actions/aws-mfa-login
+        with:
+          access_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          mfa_key: ${{ secrets.MFA_KEY }}
+          mfa_arn: ${{ secrets.MFA_ARN }}
+
+      - name: PPA server access
+        uses: ./flody_ws/etc/.github/actions/floatic-ppa-access
+        with:
+          target_group_name: ${{ secrets.SECURITY_GROUP_NAME }}
+
+      - name: Checkout submodules
+        run: |
+          cd flody_ws/etc
+          git submodule update --init --recursive
+
+      - name: Generate debian file
+        run: |
+          source /opt/floatic/debian/ros/humble/setup.bash
+          cd flody_ws/etc
+          floom-generate rosdebian
+          ls debian_results/*.deb
+        shell: bash
+
+      - name: Upload to S3
+        run: |
+          ls flody_ws/etc/debian_results/
+          aws s3 cp flody_ws/etc/debian_results s3://robotics-workflow-archive/flody_snapshot --include "*.deb" --recursive

README.md

@@ -12,7 +12,7 @@ It subscribes to topics and maintains a buffer of recent messages like a dash ca
 ### Server
 
 ```
-$ ros2 run rosbag2_snapshot snapshotter
+$ ros2 run rosbag2_snapshot snapshotter --ros-args --params-file src/rosbag2_snapshot/rosbag2_snapshot/param/multiple_topics.params.yaml (EDITED)
 
 Buffer recent messages until triggered to write or trigger an already running instance.
 
@@ -37,8 +37,8 @@ Buffer recent messages until triggered to write or trigger an already running in
 
 ### Client
 
-###### Write all buffered data to `<datetime>.bag`
-`ros2 run rosbag2_snapshot snapshotter_client --ros-params -p action_type:=trigger_write`
+###### Write all buffered data to `<datetime>.bag` (EDITED)
+`ros2 run rosbag2_snapshot snapshotter_client --ros-args -p action_type:=trigger_write -p prefix:=a -p filename:={절대 경로 to bag file to write to} --params-file {path to topics yaml file from rosbag2_snapshot}`
 
 ###### Write buffered data from selected topics to `new_lighting<datetime>.bag`
 `ros2 run rosbag2_snapshot snapshotter_client --ros-params -p filename:=new_lighting -p topics:=["/camera/image_raw", "/camera/camera_info"]`
@@ -52,7 +52,8 @@ Buffer recent messages until triggered to write or trigger an already running in
 ###### Resume buffering new data
 `ros2 run rosbag2_snapshot snapshotter_client --ros-params -p action_type:=resume`
 
-###### Call trigger service manually
+
+###### Call trigger service manually (LESS ERROR PRONE)
 
 ```
 $ ros2 service call /trigger_snapshot rosbag2_snapshot_msgs/srv/TriggerSnapshot "{filename: '', topics: [], start_time: {sec: 0, nanosec: 0}, stop_time: {sec: 0, nanosec: 0}}"

rosbag2_snapshot/CMakeLists.txt

@@ -27,5 +27,4 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    param
 )

rosbag2_snapshot/src/snapshotter.cpp

@@ -765,7 +765,7 @@ void SnapshotterClient::setSnapshotterClientOptions(const SnapshotterClientOptio
       };
     }
 
-    TriggerSnapshot::Request::SharedPtr req;
+    TriggerSnapshot::Request::SharedPtr req = std::make_shared<TriggerSnapshot::Request>();
 
     for (const auto & topic : opts.topics_) {
       req->topics.push_back(topic.asMessage());
@@ -798,7 +798,7 @@ void SnapshotterClient::setSnapshotterClientOptions(const SnapshotterClientOptio
     auto future_result =
       rclcpp::spin_until_future_complete(this->get_node_base_interface(), result_future);
 
-    if (future_result == rclcpp::FutureReturnCode::SUCCESS) {
+    if (future_result != rclcpp::FutureReturnCode::SUCCESS) {
       RCLCPP_ERROR(get_logger(), "Calling the service failed.");
     } else {
       auto result = result_future.get();
@@ -823,14 +823,14 @@ void SnapshotterClient::setSnapshotterClientOptions(const SnapshotterClientOptio
       };
     }
 
-    SetBool::Request::SharedPtr req;
+    SetBool::Request::SharedPtr req = std::make_shared<SetBool::Request>();
     req->data = (opts.action_ == SnapshotterClientOptions::RESUME);
 
     auto result_future = client->async_send_request(req);
     auto future_result =
       rclcpp::spin_until_future_complete(this->get_node_base_interface(), result_future);
 
-    if (future_result == rclcpp::FutureReturnCode::SUCCESS) {
+    if (future_result != rclcpp::FutureReturnCode::SUCCESS) {
       RCLCPP_ERROR(get_logger(), "Calling the service failed.");
     } else {
       auto result = result_future.get();
@@ -852,4 +852,4 @@ void SnapshotterClient::setSnapshotterClientOptions(const SnapshotterClientOptio
 
 #include <rclcpp_components/register_node_macro.hpp>  // NOLINT
 RCLCPP_COMPONENTS_REGISTER_NODE(rosbag2_snapshot::Snapshotter)
-RCLCPP_COMPONENTS_REGISTER_NODE(rosbag2_snapshot::SnapshotterClient)
+RCLCPP_COMPONENTS_REGISTER_NODE(rosbag2_snapshot::SnapshotterClient)