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[draft] merge the remapping argument into Player's NodeOption. #2089

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[draft] merge the remapping argument into Player's NodeOption. #2089

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39 changes: 35 additions & 4 deletions rosbag2_transport/src/rosbag2_transport/player.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2167,7 +2167,17 @@ Player::Player(
const rclcpp::NodeOptions & node_options)
: rclcpp::Node(
node_name,
rclcpp::NodeOptions(node_options).arguments(play_options.topic_remapping_options))
// Merge existing arguments with topic remapping options
rclcpp::NodeOptions(node_options).arguments(
[&, node_options]() {
auto args = node_options.arguments();
args.insert(args.end(),
play_options.topic_remapping_options.begin(),
play_options.topic_remapping_options.end());
return args;
}()
)
)
{
Comment on lines +2172 to 2181
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Copilot AI Jul 15, 2025

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The identical lambda logic is duplicated across three constructors. Consider extracting this into a private helper function to improve maintainability and reduce code duplication.

Suggested change
[&, node_options]() {
auto args = node_options.arguments();
args.insert(args.end(),
play_options.topic_remapping_options.begin(),
play_options.topic_remapping_options.end());
return args;
}()
)
)
{
merge_node_arguments(node_options, play_options)
)
)
{
// Helper function for merging node arguments
auto merge_node_arguments(
const rclcpp::NodeOptions & node_options,
const rosbag2_transport::PlayOptions & play_options) -> std::vector<std::string> {
auto args = node_options.arguments();
args.insert(args.end(),
play_options.topic_remapping_options.begin(),
play_options.topic_remapping_options.end());
return args;
}

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@fujitatomoya fujitatomoya Jul 15, 2025

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hmm i do not think this is necessary. waiting for what other people think about this.

std::shared_ptr<KeyboardHandler> keyboard_handler;
if (!play_options.disable_keyboard_controls) {
Expand Down Expand Up @@ -2202,7 +2212,17 @@ Player::Player(
const rclcpp::NodeOptions & node_options)
: rclcpp::Node(
node_name,
rclcpp::NodeOptions(node_options).arguments(play_options.topic_remapping_options))
// Merge existing arguments with topic remapping options
rclcpp::NodeOptions(node_options).arguments(
[&, node_options]() {
auto args = node_options.arguments();
args.insert(args.end(),
play_options.topic_remapping_options.begin(),
play_options.topic_remapping_options.end());
return args;
}()
)
)
{
std::vector<reader_storage_options_pair_t> readers_with_options{};
readers_with_options.emplace_back(std::move(reader), storage_options);
Expand Down Expand Up @@ -2231,10 +2251,21 @@ Player::Player(
const rclcpp::NodeOptions & node_options)
: rclcpp::Node(
node_name,
rclcpp::NodeOptions(node_options).arguments(play_options.topic_remapping_options)),
// Merge existing arguments with topic remapping options
rclcpp::NodeOptions(node_options).arguments(
[&, node_options]() {
auto args = node_options.arguments();
args.insert(args.end(),
play_options.topic_remapping_options.begin(),
play_options.topic_remapping_options.end());
return args;
}()
)
),
pimpl_(std::make_unique<PlayerImpl>(
this, std::move(readers_with_options), std::move(keyboard_handler), play_options))
{}
{
}
Comment on lines +2267 to +2268
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@fujitatomoya fujitatomoya Jul 15, 2025

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this change is unrelated but i met the following error to be fixed with it.

135: Test command: /usr/bin/python3 "-u" "/root/ros2_ws/colcon_ws/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/root/ros2_ws/colcon_ws/build/rosbag2_transport/test_results/rosbag2_transport/uncrustify.xunit.xml" "--package-name" "rosbag2_transport" "--output-file" "/root/ros2_ws/colcon_ws/build/rosbag2_transport/ament_uncrustify/uncrustify.txt" "--command" "/root/ros2_ws/colcon_ws/install/ament_uncrustify/bin/ament_uncrustify" "--xunit-file" "/root/ros2_ws/colcon_ws/build/rosbag2_transport/test_results/rosbag2_transport/uncrustify.xunit.xml"
135: Working Directory: /root/ros2_ws/colcon_ws/src/ros2/rosbag2/rosbag2_transport
135: Test timeout computed to be: 60
135: -- run_test.py: invoking following command in '/root/ros2_ws/colcon_ws/src/ros2/rosbag2/rosbag2_transport':
135:  - /root/ros2_ws/colcon_ws/install/ament_uncrustify/bin/ament_uncrustify --xunit-file /root/ros2_ws/colcon_ws/build/rosbag2_transport/test_results/rosbag2_transport/uncrustify.xunit.xml
135: Code style divergence in file 'src/rosbag2_transport/player.cpp':
135:
135: --- src/rosbag2_transport/player.cpp
135: +++ src/rosbag2_transport/player.cpp.uncrustify
135: @@ -2180 +2180 @@
135: -  )
135: +)
135: @@ -2225 +2225 @@
135: -  )
135: +)
135: @@ -2264 +2264 @@
135: -  ),
135: +),
135: @@ -2267 +2267,2 @@
135: -{}
135: +{
135: +}
135:
135: 1 files with code style divergence


Player::~Player() = default;

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