Record option declaration

Dependency fixes

Fix

Cpplint

Fix

Author: roncapat

rosbag2_storage/CMakeLists.txt

@@ -23,6 +23,8 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
@@ -45,6 +47,8 @@ target_link_libraries(${PROJECT_NAME}
   pluginlib::pluginlib
   rcpputils::rcpputils
   rcutils::rcutils
+  rclcpp::rclcpp
+  ${rcl_interfaces_TARGETS}
   yaml-cpp
 )
 

rosbag2_storage/package.xml

@@ -14,6 +14,8 @@
 
   <depend>pluginlib</depend>
   <depend>rcpputils</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>yaml_cpp_vendor</depend>
 

rosbag2_transport/include/rosbag2_transport/play_options.hpp

@@ -183,7 +183,8 @@ void declare_play_options_rw_params(std::shared_ptr<rclcpp::Node> nh, PlayOption
 
   // TODO(roncapat): but I think it's worth to use classic CLI/launchfile remap instead
   // po.topic_remapping_options =
-  //    nh->declare_parameter<std::vector<std::string>>("play.topic_remapping_options", empty_str_list);
+  //    nh->declare_parameter<std::vector<std::string>>(
+  //       "play.topic_remapping_options", empty_str_list);
 
   po.clock_publish_frequency = nh->declare_parameter<double>(
     "play.clock_publish_frequency",

rosbag2_transport/include/rosbag2_transport/record_options.hpp

@@ -16,6 +16,8 @@
 #define ROSBAG2_TRANSPORT__RECORD_OPTIONS_HPP_
 
 #include <chrono>
+#include <memory>
+#include <limits>
 #include <string>
 #include <unordered_map>
 #include <vector>
@@ -50,6 +52,129 @@ struct RecordOptions
   bool use_sim_time = false;
 };
 
+namespace
+{
+rcl_interfaces::msg::ParameterDescriptor int_param_description(
+  std::string description, int64_t min,
+  int64_t max)
+{
+  rcl_interfaces::msg::ParameterDescriptor d{};
+  rcl_interfaces::msg::IntegerRange r{};
+  d.description = description;
+  r.from_value = min;
+  r.to_value = max;
+  d.integer_range.push_back(r);
+  return d;
+}
+
+rcl_interfaces::msg::ParameterDescriptor float_param_description(
+  std::string description, float min,
+  float max)
+{
+  rcl_interfaces::msg::ParameterDescriptor d{};
+  rcl_interfaces::msg::FloatingPointRange r{};
+  d.description = description;
+  r.from_value = min;
+  r.to_value = max;
+  d.floating_point_range.push_back(r);
+  return d;
+}
+}  // namespace
+
+void declare_record_options_rw_params(std::shared_ptr<rclcpp::Node> nh, RecordOptions & ro)
+{
+  static const std::vector<std::string> empty_str_list;
+
+  ro.all = nh->declare_parameter<bool>(
+    "record.all",
+    false);
+
+  ro.is_discovery_disabled = nh->declare_parameter<bool>(
+    "record.is_discovery_disabled",
+    false);
+
+  ro.topics = nh->declare_parameter<std::vector<std::string>>(
+    "record.topics",
+    empty_str_list);
+
+  ro.rmw_serialization_format = nh->declare_parameter<std::string>(
+    "record.rmw_serialization_format",
+    "");
+
+  auto desc_tpi = int_param_description(
+    "Topic polling interval (ms)",
+    1,
+    std::numeric_limits<int64_t>::max());
+  auto topic_polling_interval_ = nh->declare_parameter<int64_t>(
+    "record.topic_polling_interval",
+    100,
+    desc_tpi);
+  ro.topic_polling_interval = std::chrono::milliseconds{topic_polling_interval_};
+
+  ro.regex = nh->declare_parameter<std::string>(
+    "record.regex",
+    "");
+
+  ro.exclude = nh->declare_parameter<std::string>(
+    "record.exclude",
+    "");
+
+  ro.node_prefix = nh->declare_parameter<std::string>(
+    "record.node_prefix",
+    "");
+
+  ro.compression_mode = nh->declare_parameter<std::string>(
+    "record.compression_mode",
+    "");
+
+  ro.compression_format = nh->declare_parameter<std::string>(
+    "record.compression_format",
+    "");
+
+  auto desc_cqs = int_param_description(
+    "Compression queue size (messages)",
+    1,
+    std::numeric_limits<int64_t>::max());
+  auto compression_queue_size_ = nh->declare_parameter<int64_t>(
+    "record.compression_queue_size",
+    1,
+    desc_cqs);
+  ro.compression_queue_size = std::static_cast<uint64_t>(compression_queue_size_);
+
+  auto desc_cts = int_param_description(
+    "Compression threads",
+    0,
+    std::numeric_limits<int64_t>::max());
+  auto compression_threads_ = nh->declare_parameter<int64_t>(
+    "record.compression_threads",
+    0,
+    desc_cts);
+  ro.compression_threads = std::static_cast<uint64_t>(compression_threads_);
+
+  // TODO(roncapat)
+  // std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides{};
+
+  ro.include_hidden_topics = nh->declare_parameter<bool>(
+    "record.include_hidden_topics",
+    false);
+
+  ro.include_unpublished_topics = nh->declare_parameter<bool>(
+    "record.include_unpublished_topics",
+    false);
+
+  ro.ignore_leaf_topics = nh->declare_parameter<bool>(
+    "record.ignore_leaf_topics",
+    false);
+
+  ro.start_paused = nh->declare_parameter<bool>(
+    "record.start_paused",
+    false);
+
+  ro.use_sim_time = nh->declare_parameter<bool>(
+    "record.use_sim_time",
+    false);
+}
+
 }  // namespace rosbag2_transport
 
 namespace YAML