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* GH-138 Move calculation of bag size - previously in rosbag2::Info - now in storage plugin * GH-130 Add rosbag2_bag_v2_plugins package -This package will contain storage and converter plugins * GH-131 don't build plugins on Windows * GH-129 Add function to be generated - massive if/else between all message types - will be generated similar to ros1_bridge plugin * GH-138 Write storage plugin for rosbag v2 bags * GH-138 Make sure that no attempt to create a converter is made when trying to read a rsbag v2 bag file * GH-138 Add play end-to-end test for rosbag v2 plugin * GH-138 Use cmake files to find ros1 packages - Use files from ros1_bridge via PkgConfig * GH-138 Add generator code * GH-141 Add initial version of vendor package * GH-141 Improve vendor package to build on Mac * GH-138 Cleanup CMakeLists * GH-141 Use unmanaged Instance of class-loader - managed instance somehow isn't available for gcc 6.3 * GH-141 Reduce patch and copy new toplevle CMakeLists by hand * GH-141 Fix Shared Instance usage * GH-141 Improve maintainability of vendor package - Document what patches do and why changes are necessary - Load ros1 packages through cmake macro - Do not export ros1 packages via ament - use commit hash of current master which is more stable than using melodic-devel * GH-138 Link against rclcpp - necessary for ros1_bridge * GH-138 Avoid crash when trying to play v2 bags which contain unknown message types * GH-138 Add CLI -s <storage_id> option to ros2 bag info and use it in rosbag2::info - this allows ros2 bag info to work also when the yaml metadata file does not exsist - this is always the case for rosbag1 bagfiles - it could also happen for sqlite or other storage based bagfiles * GH-138 Add end-to-end info test for rosbag v2 files * GH-138 Add unit tests to rosbag_storage * GH-138 Add method to extract filename from path to FilesystemHelpers * GH-138 Add proper logging for topics which cannot be converted * GH-138 Improve finding dependencies of ros1 * GH-141 Explicitly import transitive dependencies of vendor package * GH-138 Skip tests via ament if ros1 is not available * GH-133 First split of plugins * GH-133 Write serialized rosbag message * GH-133 Improve converter plugin - move generation templates outside of plugin folders as both plugins need it - use ros::serialization routines to deserialize the ros message * GH-133 Add plugin to be found by pluginlib * GH-133 Remove empty check in converter - With the rosbag_v2_converter_plugin, we don't need to treat rosbag_v2 storage any different * GH-133 Assert serialization format in unit tests for storage * GH-133 Delete superfluous include folder - Only needed if we want to link against the library * GH-133 get_all_topics_and_types returns only valid ros2 types - This is necessary as the information is used by rosbag2_transport - ros2 bag info still shows all topics and types - rosbag::View::getConnections() can return multiple connections corresponding to the same topic * GH-133 Improve end to end test - use a bagfile with messages not known to ros2 * GH-133 Reformulate info message in case of missing ros1-ros2 mapping for a topic * GH-14 Find messages first * Explicitly print message when on Windows Co-Authored-By: Martin-Idel-SI <external.Martin.Idel@bosch-si.com> * GH-14 Refactor rosbag_storage vendor package - Improve toplevel CMakeLists - Put all patches into a resource subfolder * GH-14 Reflect renames of converter interfaces * GH-156 Workaround for path problems * GH-156 Add documentation for plugin * GH-156 Fix the pluginlib version to greater 2 * GH-156 Prohibit CMake from declaring paths as system paths This switches the order of ros2 and ros1 directories resulting in build failures * GH-156 Prohibit system include paths for rosbag plugins This can lead to switching ros1 and ros2 include paths resulting in missing symbols as the wrong pluginlib gets included * GH-14 Split patches * make README more verbose * add plugin specific readme * more readme for bag_v2 plugin
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@@ -0,0 +1,69 @@ | ||
cmake_minimum_required(VERSION 3.5) | ||
project(ros1_rosbag_storage_vendor) | ||
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# Default to C99 | ||
if(NOT CMAKE_C_STANDARD) | ||
set(CMAKE_C_STANDARD 99) | ||
endif() | ||
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# Default to C++14 | ||
if(NOT CMAKE_CXX_STANDARD) | ||
set(CMAKE_CXX_STANDARD 14) | ||
endif() | ||
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
add_compile_options(-Wall -Wextra -Wpedantic) | ||
endif() | ||
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# find dependencies | ||
find_package(ament_cmake REQUIRED) | ||
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# We don't need to build on Windows for now | ||
if(WIN32) | ||
message("Replay ROS1 rosbags is currently not supported on Windows systems") | ||
return() | ||
endif() | ||
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set(git_apply git apply) | ||
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include(ExternalProject) | ||
# We have to include a number of patches to the rosbag | ||
# 1. rosbag1_encryption_patch includes https://github.com/ros/ros_comm/pull/1499, without it, pluginlib won't link | ||
# 2. The next two patches patch the pluginlib usage: | ||
# Missing boost/bind include | ||
# Using pluginlib with boost results in compile errors on some systems, so we need to switch to pluginlib without boost | ||
# 3. The next patches patch the catkin package to ament and renames it | ||
# Patching to ament is necessary as otherwise colcon needs to build a catkin package together with an ament package, which is impossible | ||
# Renaming the package is necessary on some systems to not confuse the linker | ||
# | ||
# Note that we need to build with CMAKE_NO_SYSTEM_FROM_IMPORTED. This prohibits cmake from | ||
# declaring any paths as "internal" (flagged with -isystem instead of -I) which can result in this | ||
# vendor package building against the wrong pluginlib, because the paths get switched. | ||
# Symptoms of wrong paths: The build of the rosbag for ROS 1 plugins fails with missing symbols | ||
# like ros::package::getPlugins(...) when linking the vendor package | ||
ExternalProject_Add(ros1_rosbag_storage | ||
DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download | ||
URL https://github.com/ros/ros_comm/archive/669fbd32d2f92cc295f4b024fcb2f982fddec0f0.zip | ||
URL_MD5 4c8b4c33165b223870f5d77bb697bef6 | ||
TIMEOUT 60 | ||
SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/sources | ||
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/rosbag_install -DCMAKE_NO_SYSTEM_FROM_IMPORTED=1 | ||
PATCH_COMMAND | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/rosbag1_encryption_patch.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/bagh.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/bagcpp.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/bagcpp_name.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/plugin_descriptionxml.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/packagexml.diff && | ||
${git_apply} ${CMAKE_CURRENT_SOURCE_DIR}/resources/cmakeliststxt.diff && | ||
${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeLists.txt.in ${CMAKE_CURRENT_BINARY_DIR}/sources/CMakeLists.txt | ||
) | ||
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install( | ||
DIRECTORY | ||
${CMAKE_CURRENT_BINARY_DIR}/rosbag_install/ | ||
DESTINATION | ||
${CMAKE_INSTALL_PREFIX}/ | ||
) | ||
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ament_package() |
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# We download ros_comm, which does not contain a toplevel CMakeLists so colcon can't find the entry | ||
# point and claims there is nothing to build. | ||
# This is also an opportunity, because we want to only build rosbag_storage anyways | ||
cmake_minimum_required(VERSION 3.5) | ||
add_subdirectory(tools/rosbag_storage) |
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@@ -0,0 +1,18 @@ | ||
<?xml version="1.0"?> | ||
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>ros1_rosbag_storage_vendor</name> | ||
<version>0.0.0</version> | ||
<description>Vendor package for rosbag_storage of ROS1</description> | ||
<maintainer email="karsten.knese@googlemail.com">Karsten Knese</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<buildtool_depend>ament_cmake</buildtool_depend> | ||
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<test_depend>ament_lint_auto</test_depend> | ||
<test_depend>ament_lint_common</test_depend> | ||
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<export> | ||
<build_type>ament_cmake</build_type> | ||
</export> | ||
</package> |
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@@ -0,0 +1,22 @@ | ||
diff --git a/tools/rosbag_storage/src/bag.cpp b/tools/rosbag_storage/src/bag.cpp | ||
index 7e2e67171..073072934 100644 | ||
--- a/tools/rosbag_storage/src/bag.cpp | ||
+++ b/tools/rosbag_storage/src/bag.cpp | ||
@@ -40,6 +40,7 @@ | ||
#include <iomanip> | ||
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#include <boost/foreach.hpp> | ||
+#include <boost/bind.hpp> | ||
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#include "console_bridge/console.h" | ||
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@@ -222,7 +223,8 @@ void Bag::setEncryptorPlugin(std::string const& plugin_name, std::string const& | ||
if (!chunks_.empty()) { | ||
throw BagException("Cannot set encryption plugin after chunks are written"); | ||
} | ||
- encryptor_ = encryptor_loader_.createInstance(plugin_name); | ||
+ auto unmanaged_instance = encryptor_loader_.createUnmanagedInstance(plugin_name); | ||
+ encryptor_ = std::shared_ptr<rosbag::EncryptorBase>(unmanaged_instance); | ||
encryptor_->initialize(*this, plugin_param); | ||
} | ||
|
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@@ -0,0 +1,29 @@ | ||
diff --git a/tools/rosbag_storage/src/bag.cpp b/tools/rosbag_storage/src/bag.cpp | ||
index 073072934..13a7fc8fc 100644 | ||
--- a/tools/rosbag_storage/src/bag.cpp | ||
+++ b/tools/rosbag_storage/src/bag.cpp | ||
@@ -58,12 +58,13 @@ using ros::Time; | ||
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namespace rosbag { | ||
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-Bag::Bag() : encryptor_loader_("rosbag_storage", "rosbag::EncryptorBase") | ||
+Bag::Bag() : encryptor_loader_("ros1_rosbag_storage", "rosbag::EncryptorBase") | ||
{ | ||
init(); | ||
} | ||
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-Bag::Bag(string const& filename, uint32_t mode) : encryptor_loader_("rosbag_storage", "rosbag::EncryptorBase") | ||
+Bag::Bag(string const& filename, uint32_t mode) | ||
+: encryptor_loader_("ros1_rosbag_storage", "rosbag::EncryptorBase") | ||
{ | ||
init(); | ||
open(filename, mode); | ||
@@ -71,7 +72,7 @@ Bag::Bag(string const& filename, uint32_t mode) : encryptor_loader_("rosbag_stor | ||
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#ifndef BOOST_NO_CXX11_RVALUE_REFERENCES | ||
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-Bag::Bag(Bag&& other) : encryptor_loader_("rosbag_storage", "rosbag::EncryptorBase") { | ||
+Bag::Bag(Bag&& other) : encryptor_loader_("ros1_rosbag_storage", "rosbag::EncryptorBase") { | ||
init(); | ||
swap(other); | ||
} |
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@@ -0,0 +1,22 @@ | ||
diff --git a/tools/rosbag_storage/include/rosbag/bag.h b/tools/rosbag_storage/include/rosbag/bag.h | ||
index c65533011..e75ef9c78 100644 | ||
--- a/tools/rosbag_storage/include/rosbag/bag.h | ||
+++ b/tools/rosbag_storage/include/rosbag/bag.h | ||
@@ -35,6 +35,8 @@ | ||
#ifndef ROSBAG_BAG_H | ||
#define ROSBAG_BAG_H | ||
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+#include <memory> | ||
+ | ||
#include "rosbag/macros.h" | ||
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#include "rosbag/buffer.h" | ||
@@ -354,7 +356,7 @@ private: | ||
// Encryptor plugin loader | ||
pluginlib::ClassLoader<rosbag::EncryptorBase> encryptor_loader_; | ||
// Active encryptor | ||
- boost::shared_ptr<rosbag::EncryptorBase> encryptor_; | ||
+ std::shared_ptr<rosbag::EncryptorBase> encryptor_; | ||
}; | ||
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} // namespace rosbag |
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