Description

This feature introduces parameters to ros2 bag record to control recording file size or duration limits, enabling both circular logging.

• --max-record-size: Sets a maximum total size (in bytes) for all bag files. When this limit is exceeded, the oldest file(s) are deleted to maintain the limit. This enables continuous, size-bounded circular logging.
• --max-record-duration: Sets a maximum total duration (in seconds) spanning all bag files. When this limit is exceeded, the oldest file(s) are deleted. This enables continuous, time-bounded circular logging.
• [optional] --max-splits: Stops the recording session automatically after a specified number of split files have been created. This is a stopping condition, not a circular logging mechanism.

Related Issues

• Fulfills common requests for circular/continuous logging (for size and duration).
• Limit max splits (the same as --max-splits of rosbag in ROS1) #865
• Always-on (or "session-free") recording #1915

Completion Criteria

• ros2 bag record accepts --max-record-size <SIZE_BYTES>. When total size is exceeded, the oldest files are deleted, and recording continues.
• ros2 bag record accepts --max-record-duration <DURATION_SEC>. When total duration is exceeded, the oldest files are deleted, and recording continues.
• All new options are documented.

Implementation Notes / Suggestions

• Logic for monitoring total size, duration, and split file count should be implemented within the SequentialWriter class.
• The SequentialWriter must include a mechanism to identify and delete the oldest split files when --max-record-size or --max-record-duration limits are breached.
• To limit checking and simplify implementation, checking of size and duration only happens when splitting files.

Testing Notes / Suggestions

• --max-record-size Test: Record with a small size limit and file splitting. Verify that total size remains bounded and old files are deleted.
• --max-record-duration Test: Record with a short duration limit and file splitting. Verify that total duration remains bounded and old files are deleted.
• --max-splits Test: Record with splitting and --max-splits 5. Verify recording stops after exactly 5 files.