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rosbag2 zero copy playback and wait for ack option. (backport #2597) #2632

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May 23, 2022
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rosbag2 zero copy playback and wait for ack option. (backport #2597) #2632

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15 changes: 15 additions & 0 deletions source/Releases/Release-Humble-Hawksbill.rst
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Expand Up @@ -838,6 +838,21 @@ With pull request `977 <https://github.com/ros2/rosbag2/pull/977>`_, ``rosbag2``
In burst mode, the data is played back as fast as possible.
This is useful in applications such as machine learning.

Zero-Copy playback
""""""""""""""""""

By default, if loaned message can be used, playback messages are published as loaned message.
This can help to reduce the number of data copies, so there is a greater benefit for sending big data.
Pull request `981 <https://github.com/ros2/rosbag2/pull/981>`_ adds ``--disable-loan-message`` option for playback.

Wait for an acknowledgment
""""""""""""""""""""""""""

This new option will wait until all published messages are acknowledged by all subscribers or until the timeout elapses in millisecond before play is terminated.
Especially for the case of sending message with big size in a short time.
This option is valid only if the publisher's QOS profile is RELIABLE.
Pull request `951 <https://github.com/ros2/rosbag2/pull/951>`_ adds ``--wait-for-all-acked`` option for playback.

Bag editing
"""""""""""

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