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Make Player and Recorder Composable (#902) #1419

Merged
merged 62 commits into from
Dec 11, 2023
Merged

Make Player and Recorder Composable (#902) #1419

merged 62 commits into from
Dec 11, 2023

Commits on Nov 14, 2023

  1. Squasgh to ease rebase 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  2. Remove TODO for keyboard handlers 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  3. Change structure 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
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  4. Fix 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
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  5. Fix 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
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  6. QoS parsing 

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  7. Fix 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  8. Uncrustify 

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  9. Draft comparison of passed vs parsed params 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
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  10. Fix shared_from_this() issue, param file & paths 

    Signed-off-by: roncapat <ronca.pat@gmail.com>
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  11. Fixes after rebase 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  12. Fixes to handle durations 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  13. Better test output 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  14. Drafting record param test 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  15. Fixing recorder issues 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  16. Fixes 

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  17. Draft component load test 

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  18. Composition tests working 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  19. Uncrustify 

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  20. Cpplint 

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  21. Cpplint 

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Commits on Nov 29, 2023

  1. Fix play_offset bug 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  2. Fix storage defaults bug 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  3. Get rid of temporal conversion crutches using map<string, Rosbag2QoS> 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  4. Use const ref to node in the options getter functions 

    - Also made a style clean up in getter functions

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  5. Cleanups in get_storage(/play/record)_options functions 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  6. Move RosBag2RecordTestFixture insight test_record_params.cpp 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  7. Rename overrides.yaml to the qos_profile_overrides.yaml file 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  8. Rename params_player.yaml to the player_node_params.yaml 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  9. Rename params_recorder.yaml to the recorder_node_params.yaml 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  10. Replace Rosbag2Duration by rclcpp::Duration 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  11. Cleanup in functions which are getting values from node parameters 

    - Address issues in duration and integer parameters conversion
- Introduce `declare_integer_node_params(..)` and
`get_duration_from_node_param(..)` helper functions

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  12. Bugfix. Adjust min-max ranges for get_duration_from_node_param(..) 

    - Also add expected range to the exception message

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  13. Initial comparisons 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  14. Move component manager in fixture 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  15. Merge branch 'rolling' into patch-2 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  16. Uncrustify 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  17. Remove residual AMENT_DEPS after merge 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  18. Complete test_play_params 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  19. Finish param tests 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  20. Uncrustify 

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Commits on Nov 30, 2023

  1. Cleanups in player/recorder parameters and load components tests 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  2. Renames in player/recorder parameters and load components tests 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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Commits on Dec 6, 2023

  1. Namespaced parameters 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  2. Fix load_composable_components test 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  3. Automatically start playback in "composable" Player constructor 

    - Added doxygen comments for Player's constructors

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  4. Add integration test for composable player 

    - Integration test will check that player can automatically play file
after composition

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  5. Add missing dependencies to the mock_player.hpp 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  6. Automatically start recording in "composable" Recorder constructor 

    - Added doxygen comments for Recorder's constructors

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  7. Adopt existent tests for auto starting recording after composition 

    - Add default "cdr" value for rmw_serialization_format node parameter

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  8. Add integration test for composable recorder 

    - Test verify that recorder can automatically start recording after
composition and record messages

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  9. Add missed parameters prefixes after rebase 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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Commits on Dec 9, 2023

  1. Fix for failing test with wrong check for playback_until_timestamp 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  2. Fix for failing tests with wrong parameters deduction 

    - Adjust max bagfile size and duration due to the bug in the
 rc_yaml_param_parcer/parser.c
 Need to use srtoll() instead of the strol() in parser

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  3. Close recorder before trying to delete temp files on test destruction 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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  4. Update rosbag2_transport/test/rosbag2_transport/composition_manager_t… 

    …est_fixture.hpp

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  5. Update rosbag2_transport/test/rosbag2_transport/test_composable_recor… 

    …der.cpp

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  6. Update rosbag2_transport/CMakeLists.txt 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  7. Update rosbag2_transport/CMakeLists.txt 

    Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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Commits on Dec 10, 2023

  1. Address warnings from Windows CI job in composable player and recorder 

    Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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Commits on Dec 11, 2023

  1. Update rosbag2_transport/src/rosbag2_transport/config_options_from_no… 

    …de_params.cpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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  2. Update rosbag2_transport/test/rosbag2_transport/test_composable_playe… 

    …r.cpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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