Feature/rosbag2 circular logging size duration 2217 #2218
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Signed-off-by: Luke Sy <[email protected]>
- Add StorageOptions.max_splits (+ YAML/params, Python bindings) - CLI: --max-splits (before size/duration) - Writer: delete oldest files when exceeding size, duration, or split count Signed-off-by: Luke Sy <[email protected]>
Signed-off-by: Luke Sy <[email protected]>
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Signed-off-by: Luke Sy <[email protected]>
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| parser.add_argument( | ||
| '--max-record-size', type=int, default=0, | ||
| help='Maximum total size in bytes for the entire recording across all splits. ' | ||
| 'Oldest bagfiles will be deleted when this limit is exceeded (circular logging). ' | ||
| 'Default: %(default)d, no limit on total recording size. ' | ||
| 'Requires --max-bag-size or --max-bag-duration to be set.') | ||
| parser.add_argument( | ||
| '--max-record-duration', type=int, default=0, | ||
| help='Maximum total duration in seconds for the entire recording across all splits. ' | ||
| 'Oldest bagfiles will be deleted when this limit is exceeded (circular logging). ' | ||
| 'Default: %(default)d, no limit on total recording duration. ' | ||
| 'Requires --max-bag-size or --max-bag-duration to be set.') |
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i am not against this PR. but i am not sure if those 2 optional arguments need to be supported by rosbag2... because i think those can be easily calculated by --max-splits option above? i think that using --max-splits with --max-bag-size or --max-bag-duration would be more straight-forward for user experience.
besides that,
- (already) too many optional arguments for
ros2 bag record... this generates more and more complication. - additional error handling needs to be implemented in the rosbag2 system. e.g) what if user accidentally set
--max-record-sizewith smaller value than--max-bag-size.
Signed-off-by: Luke Sy <[email protected]>
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Signed-off-by: Luke Sy <[email protected]>
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I've committed changes that should address the unit test error. I'm also happy to include @fujitatomoya ’s suggestion to remove |
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Description
Adds circular logging by split count, record size and duration to rosbag2 recording.
--max-splits,--max-record-size,--max-record-duration.Fixes #2217
Is this user-facing behavior change?
Yes.
--max-splits N: limit number of retained bagfile splits.--max-record-size BYTES: limit total recorded size across all splits.--max-record-duration SECONDS: limit total recorded duration across all splits.ros2 bag record -a --max-bag-size 100MB --max-splits 5ros2 bag record -a --max-bag-duration 60 --max-record-size 5_000_000_000ros2 bag record -a --max-bag-size 200MB --max-record-duration 300Did you use Generative AI?
Yes.
Additional Information
--log-levelif needed.metadata.yamlcurrently retains aggregatemessage_countandtopics_with_message_countacross the entire capture, even when older bagfiles are pruned by circular logging. File lists and durations reflect pruning, but those two fields still represent the full session totals.