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add MCAP support to offline node #67

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add MCAP support to offline node #67

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8 changes: 7 additions & 1 deletion cartographer_ros/src/playable_bag.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include "tf2_msgs/msg/tf_message.hpp"
#include "rosbag2_storage/topic_metadata.hpp"
#include "rosbag2_storage/bag_metadata.hpp"
#include <filesystem>

namespace cartographer_ros {

Expand All @@ -38,7 +39,12 @@ PlayableBag::PlayableBag(
filtering_early_message_handler_(
std::move(filtering_early_message_handler)) {
LOG(WARNING) << "Opening bag: " << bag_filename;
bag_reader_->open(bag_filename);
if (std::filesystem::path(bag_filename).extension() == ".mcap") {
bag_reader_->open(rosbag2_storage::StorageOptions{bag_filename,"mcap"},
rosbag2_cpp::ConverterOptions{"cdr", "cdr"});
} else {
bag_reader_->open(bag_filename);
}
Comment on lines +42 to +47
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Hm, shouldn't the rosbag2 API be figuring this out for us? If we have to do this, I consider it a problem with that API and we should fix it there.

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I simply followed the rosbag2_cpp open function documentation which explicitly states that it assumes sqlite3 storage backend when using the path only overload:
https://github.com/ros2/rosbag2/blob/0c7c352222a08470211232453dab9749ab405201/rosbag2_cpp/include/rosbag2_cpp/reader.hpp#L64-L78

/**

  • Opens an existing bagfile and prepare it for reading messages.
  • The bagfile must exist.
  • This must be called before any other function is used.
  • \note This will open URI with the default storage options
    • using sqlite3 storage backend
    • using no converter options, storing messages with the incoming serialization format
  • \sa rmw_get_serialization_format.
  • For specifications, please see \sa open, which let's you specify
  • more storage and converter options.
  • \param storage_uri URI of the storage to open.
    **/
    void open(const std::string & uri);

And the Foxglove documentation which says to specify the StorageOptions and ConverterOptions (for python):

Reading from MCAP

The rosbag2_storage_mcap plugin works seamlessly with the existing rosbag2_py API for reading messages out of bags, so your rosbag2 scripts will continue to work with minimal changes. Just specify “mcap” as your storage ID when opening a bag file:

reader.open(
rosbag2_py.StorageOptions(uri=input_bag, storage_id="mcap"),
rosbag2_py.ConverterOptions(
input_serialization_format="cdr", output_serialization_format="cdr"
),
)

Without thinking much.
But if you think we can add automatic detection of the mcap storage_id based of the file extension directly in the rosbag2 API, I will happily do a PR (for the cpp part)

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Note that a manual flag has to be used for ros2 bag play usage with MCAP too:

$ ros2 bag play -s mcap path/to/your_recording.mcap

bag_metadata = bag_reader_->get_metadata();
duration_in_seconds_ = bag_metadata.duration.count()/1e9;
LOG(WARNING) << "duration_in_seconds_: " << duration_in_seconds_;
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