Merge branch 'rolling' into nicolaloi/bag-play-progress-bar

Signed-off-by: Nicola Loi <[email protected]>

.github/workflows/lint.yml

@@ -33,7 +33,6 @@ jobs:
             rosbag2_test_common
             rosbag2_tests
             rosbag2_transport
-            shared_queues_vendor
 
   ament_lint_cpp: # Linters applicable to C++ packages
     name: ament_${{ matrix.linter }}
@@ -62,7 +61,6 @@ jobs:
             rosbag2_test_common
             rosbag2_tests
             rosbag2_transport
-            shared_queues_vendor
 
   ament_lint_clang_format: # Linters applicable to C++ packages formatted with clang-format
     name: ament_${{ matrix.linter }}

.github/workflows/test.yml

@@ -48,7 +48,6 @@ jobs:
                 "rosbag2_test_msgdefs",
                 "rosbag2_tests",
                 "rosbag2_transport",
-                "shared_queues_vendor",
                 "sqlite3_vendor",
                 "zstd_vendor"
               ]
@@ -74,7 +73,6 @@ jobs:
                 "rosbag2_test_msgdefs",
                 "rosbag2_tests",
                 "rosbag2_transport",
-                "shared_queues_vendor",
                 "sqlite3_vendor",
                 "zstd_vendor"
               ]

README.md

@@ -138,6 +138,14 @@ $ ros2 bag play <bag>
 The bag argument can be a directory containing `metadata.yaml` and one or more storage files, or to a single storage file such as `.mcap` or `.db3`.
 The Player will automatically detect which storage implementation to use for playing.
 
+To play back multiple bags:
+
+```
+$ ros2 bag play <bag1> -i <bag2> -i <bag3>
+```
+
+Messages from all provided bags will be played in order, based on their original recording reception timestamps.
+
 #### Controlling playback via services
 
 The Rosbag2 player provides the following services for remote control, which can be called via `ros2 service` commandline or from your nodes,

liblz4_vendor/CHANGELOG.rst

@@ -5,6 +5,11 @@ Changelog for package liblz4_vendor
 0.29.0 (2024-09-03)
 -------------------
 
+0.30.0 (2024-11-26)
+-------------------
+* Add in a library prefix for lz4 from conda on Windows. (`#1846 <https://github.com/ros2/rosbag2/issues/1846>`_)
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette
+
 0.28.0 (2024-06-17)
 -------------------
 

liblz4_vendor/cmake/Modules/Findlz4.cmake

@@ -4,6 +4,13 @@ if(NOT lz4_ROOT_DIR AND DEFINED ENV{lz4_ROOT_DIR})
       "lz4 base directory location (optional, used for nonstandard installation paths)")
 endif()
 
+# When using lz4 from conda on Windows, and cmake before 3.29.0,
+# we need to add the library prefix "lib" so that the library can
+# be successfully found.
+if(MSVC AND CMAKE_VERSION VERSION_LESS "3.29.0")
+  set(CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
+endif()
+
 # Search path for nonstandard package locations
 if(lz4_ROOT_DIR)
   set(lz4_INCLUDE_PATH PATHS "${lz4_ROOT_DIR}/include" NO_DEFAULT_PATH)

liblz4_vendor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>liblz4_vendor</name>
-  <version>0.29.0</version>
+  <version>0.30.0</version>
   <description>LZ4 compression vendor package, providing a dependency for LZ4.</description>
   <maintainer email="[email protected]">Michael Orlov</maintainer>
   <maintainer email="[email protected]">Emerson Knapp</maintainer>

mcap_vendor/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package mcap_vendor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.30.0 (2024-11-26)
+-------------------
+
 0.29.0 (2024-09-03)
 -------------------
 * Update mcap (`#1774 <https://github.com/ros2/rosbag2/issues/1774>`_)

mcap_vendor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mcap_vendor</name>
-  <version>0.29.0</version>
+  <version>0.30.0</version>
   <description>mcap vendor package</description>
   <maintainer email="[email protected]">Foxglove</maintainer>
   <maintainer email="[email protected]">Michael Orlov</maintainer>

ros2bag/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package ros2bag
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.30.0 (2024-11-26)
+-------------------
+* Rename rclpy.qos.QoS*Policy to rclpy.qos.*Policy (`#1832 <https://github.com/ros2/rosbag2/issues/1832>`_)
+* Add "--sort" CLI option to the "ros2 bag info" command (`#1804 <https://github.com/ros2/rosbag2/issues/1804>`_)
+* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Nicola Loi, Roman, Sanoronas
+
 0.29.0 (2024-09-03)
 -------------------
 * Add cli option compression-threads-priority (`#1768 <https://github.com/ros2/rosbag2/issues/1768>`_)

ros2bag/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ros2bag</name>
-  <version>0.29.0</version>
+  <version>0.30.0</version>
   <description>
     Entry point for rosbag in ROS 2
   </description>

ros2bag/ros2bag/api/__init__.py

@@ -21,23 +21,24 @@
 import os
 from typing import Any
 from typing import Dict
+from typing import List
 from typing import Optional
 
 from rclpy.duration import Duration
-from rclpy.qos import QoSDurabilityPolicy
-from rclpy.qos import QoSHistoryPolicy
-from rclpy.qos import QoSLivelinessPolicy
+from rclpy.qos import DurabilityPolicy
+from rclpy.qos import HistoryPolicy
+from rclpy.qos import LivelinessPolicy
 from rclpy.qos import QoSProfile
-from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import ReliabilityPolicy
 from ros2cli.entry_points import get_entry_points
 import rosbag2_py
 
 # This map needs to be updated when new policies are introduced
 _QOS_POLICY_FROM_SHORT_NAME = {
-    'history': QoSHistoryPolicy.get_from_short_key,
-    'reliability': QoSReliabilityPolicy.get_from_short_key,
-    'durability': QoSDurabilityPolicy.get_from_short_key,
-    'liveliness': QoSLivelinessPolicy.get_from_short_key
+    'history': HistoryPolicy.get_from_short_key,
+    'reliability': ReliabilityPolicy.get_from_short_key,
+    'durability': DurabilityPolicy.get_from_short_key,
+    'liveliness': LivelinessPolicy.get_from_short_key
 }
 _DURATION_KEYS = ['deadline', 'lifespan', 'liveliness_lease_duration']
 _VALUE_KEYS = ['depth', 'avoid_ros_namespace_conventions']
@@ -158,15 +159,104 @@ def check_not_negative_int(arg: str) -> int:
 
 
 def add_standard_reader_args(parser: ArgumentParser) -> None:
+    """
+    Add arguments for one input bag.
+
+    :param parser: the parser
+    """
     reader_choices = rosbag2_py.get_registered_readers()
     parser.add_argument(
-        'bag_path', type=check_path_exists, help='Bag to open')
+        'bag_path',
+        nargs=None,
+        type=check_path_exists,
+        help='Bag to open.')
     parser.add_argument(
         '-s', '--storage', default='', choices=reader_choices,
         help='Storage implementation of bag. '
              'By default attempts to detect automatically - use this argument to override.')
 
 
+def add_standard_multi_reader_args(parser: ArgumentParser) -> None:
+    """
+    Add arguments for multiple input bags.
+
+    :param parser: the parser
+    """
+    # Let user provide an input bag path using an optional positional arg, but require them to use
+    # --input to provide an input bag with a specific storage ID
+    reader_choices = rosbag2_py.get_registered_readers()
+    parser.add_argument(
+        'bag_path',
+        nargs='?',
+        type=check_path_exists,
+        help='Bag to open. '
+             'Use --input instead to provide an input bag with a specific storage ID.')
+    parser.add_argument(
+        '-s', '--storage', default='', choices=reader_choices,
+        help='Storage implementation of bag. '
+             'By default attempts to detect automatically - use this argument to override.'
+             ' (deprecated: use --input to provide an input bag with a specific storage ID)')
+    add_multi_bag_input_arg(parser, required=False)
+
+
+def add_multi_bag_input_arg(parser: ArgumentParser, required: bool = False) -> None:
+    """
+    Add option for list of input bags.
+
+    :param parser: the parser
+    :param required: whether this option should be required
+    """
+    reader_choices = ', '.join(rosbag2_py.get_registered_readers())
+    parser.add_argument(
+        '-i', '--input',
+        required=required,
+        action='append', nargs='+',
+        metavar=('uri', 'storage_id'),
+        help='URI (and optional storage ID) of an input bag. '
+             'May be provided more than once for multiple input bags. '
+             f'Storage ID options are: {reader_choices}.')
+
+
+def input_bag_arg_to_storage_options(
+    input_arg: List[List[str]],
+    storage_config_file: Optional[str] = None,
+) -> List[rosbag2_py.StorageOptions]:
+    """
+    Convert input bag argument value(s) to list of StorageOptions.
+
+    Raises ValueError if validation fails, including:
+    1. Bag path existence
+    2. Storage ID
+    3. Storage config file existence
+
+    :param input_arg: the values of the input argument
+    :param storage_config_file: the storage config file, if any
+    """
+    if storage_config_file and not os.path.exists(storage_config_file):
+        raise ValueError(f"File '{storage_config_file}' does not exist!")
+    storage_id_options = rosbag2_py.get_registered_readers()
+    storage_options = []
+    for input_bag_info in input_arg:
+        if len(input_bag_info) > 2:
+            raise ValueError(
+                f'--input expects 1 or 2 arguments, {len(input_bag_info)} provided')
+        bag_path = input_bag_info[0]
+        if not os.path.exists(bag_path):
+            raise ValueError(f"Bag path '{bag_path}' does not exist!")
+        storage_id = input_bag_info[1] if len(input_bag_info) > 1 else ''
+        if storage_id and storage_id not in storage_id_options:
+            raise ValueError(
+                f"Unknown storage ID '{storage_id}', options are: {', '.join(storage_id_options)}")
+        options = rosbag2_py.StorageOptions(
+            uri=bag_path,
+            storage_id=storage_id,
+        )
+        if storage_config_file:
+            options.storage_config_uri = storage_config_file
+        storage_options.append(options)
+    return storage_options
+
+
 def _parse_cli_storage_plugin():
     plugin_choices = set(rosbag2_py.get_registered_writers())
     default_storage = rosbag2_py.get_default_storage_id()

ros2bag/ros2bag/verb/convert.py

@@ -12,23 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
-
+from ros2bag.api import add_multi_bag_input_arg
+from ros2bag.api import input_bag_arg_to_storage_options
 from ros2bag.verb import VerbExtension
 from rosbag2_py import bag_rewrite
-from rosbag2_py import StorageOptions
 
 
 class ConvertVerb(VerbExtension):
     """Given an input bag, write out a new bag with different settings."""
 
     def add_arguments(self, parser, cli_name):
-        parser.add_argument(
-            '-i', '--input',
-            required=True,
-            action='append', nargs='+',
-            metavar=('uri', 'storage_id'),
-            help='URI (and optional storage ID) of an input bag. May be provided more than once')
+        add_multi_bag_input_arg(parser, required=True)
         parser.add_argument(
             '-o', '--output-options',
             type=str, required=True,
@@ -37,14 +31,6 @@ def add_arguments(self, parser, cli_name):
                  'objects. See README.md for some examples.')
 
     def main(self, *, args):
-        input_options = []
-        for input_bag in args.input:
-            if len(input_bag) > 2:
-                raise argparse.ArgumentTypeError(
-                    f'--input expects 1 or 2 arguments, {len(input_bag)} provided')
-            storage_options = StorageOptions(uri=input_bag[0])
-            if len(input_bag) > 1:
-                storage_options.storage_id = input_bag[1]
-            input_options.append(storage_options)
+        input_options = input_bag_arg_to_storage_options(args.input)
 
         bag_rewrite(input_options, args.output_options)

ros2bag/ros2bag/verb/info.py

@@ -30,16 +30,21 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '-v', '--verbose', action='store_true',
             help='Display request/response information for services'
         )
+        available_sorting_methods = Info().get_sorting_methods()
+        parser.add_argument(
+            '--sort', default='name', choices=available_sorting_methods,
+            help='Configuration for sorting of output. '
+                 'By default sorts by topic name - use this argument to override.')
 
     def main(self, *, args):  # noqa: D102
         if args.topic_name and args.verbose:
             print("Warning! You have set both the '-t' and '-v' parameters. The '-t' parameter "
                   'will be ignored.')
         m = Info().read_metadata(args.bag_path, args.storage)
         if args.verbose:
-            Info().print_output_verbose(args.bag_path, m)
+            Info().print_output_verbose(args.bag_path, m, args.sort)
         else:
             if args.topic_name:
-                Info().print_output_topic_name_only(m)
+                Info().print_output_topic_name_only(m, args.sort)
             else:
-                Info().print_output(m)
+                Info().print_output(m, args.sort)