Add a direct API for rosbag2_transport::Recorder #2221
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MichaelOrlov
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Add direct recorder API add_channel(..) and write_message(..) Add direct write_message(..) API with recv_timestamp Add direct `on_messages_lost_in_transport(..)` API Note: The `on_messages_lost_in_transport(..)` method is expected to be called when messages are lost in the transport layer. Also added `get_total_num_messages_lost_in_transport()` getter method. Signed-off-by: Michael Orlov <[email protected]>
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MichaelOrlov
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Signed-off-by: Michael Orlov <[email protected]>
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Pulls: #2221
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christophebedard-apexai
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Nov 11, 2025
christophebedard
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Nov 11, 2025
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Description
This PR adds a direct API for rosbag2_transport::Recorder to enable direct use of the recorder without creating any subscriptions. For instance, from device drivers.
Added direct recorder API add_channel(..) and write_message(..)
Added direct write_message(..) API with recv_timestamp
Added direct
on_messages_lost_in_transport(..)APINote: The
on_messages_lost_in_transport(..)method is expected to be called when messages are lost in the transport layer.Added
get_total_num_messages_lost_in_transport()getter method.Is this user-facing behavior change?
No. However, the new API will become available
Did you use Generative AI?
Yes, I am using GitHub Copilot, GPT-5 in my workflow, mostly to help with writing tests and documentation.
Additional Information
This PR will be difficult to backport since it depends on the non-backportable other PR #2215