Add optional uri parameter for the Recorder::record(uri) API

Note: if provided optional parameter uri, it will override the
 storage_options.uri provided during construction.
Signed-off-by: Michael Orlov <[email protected]>

Author: MichaelOrlov

rosbag2_transport/include/rosbag2_transport/recorder.hpp

@@ -117,10 +117,12 @@ class Recorder : public rclcpp::Node
   ROSBAG2_TRANSPORT_PUBLIC
   virtual ~Recorder();
 
-  /// @brief Start recording.
-  /// The record() method will return almost immediately and recording will happen in background.
+  /// \brief Start recording.
+  /// \details The record() method will return almost immediately and recording will happen in
+  /// background.
+  /// \param uri If provided, it will override the storage_options.uri provided during construction.
   ROSBAG2_TRANSPORT_PUBLIC
-  void record();
+  void record(const std::string & uri = "");
 
   /// @brief Add a new channel (topic) to the rosbag2 writer to be recorded.
   /// \details This is a direct Recorder API equivalent to the rosbag2_cpp::Writer::add_topic().
@@ -214,8 +216,8 @@ class Recorder : public rclcpp::Node
   uint64_t get_total_num_messages_lost_in_transport() const;
 
   /// @brief Stopping recording.
-  /// @details The stop() is opposite to the record() operation. It will stop recording, dump
-  /// all buffers to the disk and close writer. The record() can be called again after stop().
+  /// @details The stop() is opposite to the record(uri) operation. It will stop recording, dump
+  /// all buffers to the disk and close writer. The record(uri) can be called again after stop().
   ROSBAG2_TRANSPORT_PUBLIC
   void stop();
 

rosbag2_transport/src/rosbag2_transport/recorder.cpp

@@ -63,9 +63,11 @@ class RecorderImpl
 
   ~RecorderImpl();
 
-  /// @brief Start recording.
-  /// The record() method will return almost immediately and recording will happen in background.
-  void record();
+  /// \brief Start recording.
+  /// \details The record(uri) method will return almost immediately and recording will happen in
+  /// background.
+  /// \param uri If provided, it will override the storage_options.uri provided during construction.
+  void record(const std::string & uri = "");
 
   /// @brief Add a new channel (topic) to the rosbag2 writer to be recorded.
   /// \details This is a direct Recorder API equivalent to the rosbag2_cpp::Writer::add_topic().
@@ -156,7 +158,7 @@ class RecorderImpl
   uint64_t get_total_num_messages_lost_in_transport() const;
 
   /// @brief Stopping recording and closing writer.
-  /// The record() can be called again after stop().
+  /// The record(uri) can be called again after stop().
   void stop();
 
   /// Get a const reference to the underlying rosbag2 writer.
@@ -348,15 +350,19 @@ void RecorderImpl::stop()
   }
 }
 
-void RecorderImpl::record()
+void RecorderImpl::record(const std::string & uri)
 {
   std::lock_guard<std::mutex> state_lock(start_stop_transition_mutex_);
   if (in_recording_.exchange(true)) {
     RCLCPP_WARN_STREAM(
       node->get_logger(),
-      "Called Recorder::record() while already in recording, dismissing request.");
+      "Called Recorder::record(uri) while already in recording, dismissing request.");
     return;
   }
+  if (!uri.empty()) {
+    storage_options_.uri = uri;
+  }
+  RCLCPP_INFO(node->get_logger(), "Starting recording to '%s'", storage_options_.uri.c_str());
   paused_ = record_options_.start_paused;
   topic_qos_profile_overrides_ = record_options_.topic_qos_profile_overrides;
   // Check serialization format options
@@ -538,7 +544,7 @@ void RecorderImpl::start_discovery()
     // Get graph event to ensure to start GrapListener if not already started and register event,
     // before we're starting discovery thread.
     // This is a workaround to split initialization and runtime phases to avoid race condition when
-    // a new publisher appeared after we finish start_discovery() and/or Recorder::record(),
+    // a new publisher appeared after we finish start_discovery() and/or Recorder::record(uri),
     // but before we really start topics_discovery() thread.
     discovery_graph_event_ = node->get_graph_event();
     discovery_future_ =
@@ -1018,9 +1024,9 @@ Recorder::Recorder(
 
 Recorder::~Recorder() = default;
 
-void Recorder::record()
+void Recorder::record(const std::string & uri)
 {
-  pimpl_->record();
+  pimpl_->record(uri);
 }
 
 void Recorder::add_channel(