From a11905f11b93dff5e76ba9ac2fb1a7b6fbc542b4 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 16:37:17 +0200
Subject: [PATCH 01/13] ros2 bag convert now excludes messages not in
 [start_time;end_time] resolves https://github.com/ros2/rosbag2/issues/599

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../rosbag2_cpp/writers/sequential_writer.hpp      |  4 ++++
 .../src/rosbag2_cpp/writers/sequential_writer.cpp  | 14 ++++++++++++++
 rosbag2_py/src/rosbag2_py/_storage.cpp             | 10 +++++++++-
 rosbag2_storage/CMakeLists.txt                     |  2 ++
 .../include/rosbag2_storage/storage_options.hpp    |  5 +++++
 .../src/rosbag2_storage/storage_options.cpp        |  4 ++++
 rosbag2_storage_mcap/CMakeLists.txt                |  2 ++
 rosbag2_storage_mcap/src/mcap_storage.cpp          |  2 +-
 rosbag2_storage_sqlite3/CMakeLists.txt             |  2 ++
 9 files changed, 43 insertions(+), 2 deletions(-)

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
index 0f94873cf0..cd5e27cf69 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -174,6 +174,10 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   bool should_split_bagfile(
     const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const;
 
+  // Checks if the message to be written is within accepted time range
+  bool message_within_accepted_time_range(
+    const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const;
+
   // Prepares the metadata by setting initial values.
   virtual void init_metadata();
 
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index d32951e6f7..86d41e4bdf 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -354,6 +354,8 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
   const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
     std::chrono::nanoseconds(message->time_stamp));
 
+  if (! message_within_accepted_time_range(message_timestamp)) return;
+
   if (is_first_message_) {
     // Update bagfile starting time
     metadata_.starting_time = message_timestamp;
@@ -432,6 +434,18 @@ bool SequentialWriter::should_split_bagfile(
   return should_split;
 }
 
+bool SequentialWriter::message_within_accepted_time_range(const std::chrono::time_point<std::chrono::high_resolution_clock> &current_time) const
+{
+  bool retVal=true;
+  if ( (storage_options_.start_time > 0) &&
+        current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds(storage_options_.start_time)) )
+          retVal = false;
+  else if ( ( storage_options_.end_time > 0) &&
+        current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds(storage_options_.end_time)) )
+          retVal = false;
+  return retVal;
+}
+
 void SequentialWriter::finalize_metadata()
 {
   metadata_.bag_size = 0;
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index 4ecdcb2c4f..509581bf29 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -83,7 +83,7 @@ PYBIND11_MODULE(_storage, m) {
   pybind11::class_<rosbag2_storage::StorageOptions>(m, "StorageOptions")
   .def(
     pybind11::init<
-      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool,
+      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool, rcutils_time_point_value_t, rcutils_time_point_value_t,
       KEY_VALUE_MAP>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id") = "",
@@ -93,6 +93,8 @@ PYBIND11_MODULE(_storage, m) {
     pybind11::arg("storage_preset_profile") = "",
     pybind11::arg("storage_config_uri") = "",
     pybind11::arg("snapshot_mode") = false,
+    pybind11::arg("start_time") = 0,
+    pybind11::arg("end_time") = 0,
     pybind11::arg("custom_data") = KEY_VALUE_MAP{})
   .def_readwrite("uri", &rosbag2_storage::StorageOptions::uri)
   .def_readwrite("storage_id", &rosbag2_storage::StorageOptions::storage_id)
@@ -114,6 +116,12 @@ PYBIND11_MODULE(_storage, m) {
   .def_readwrite(
     "snapshot_mode",
     &rosbag2_storage::StorageOptions::snapshot_mode)
+  .def_readwrite(
+    "start_time",
+    &rosbag2_storage::StorageOptions::start_time)
+  .def_readwrite(
+    "end_time",
+    &rosbag2_storage::StorageOptions::end_time)
   .def_readwrite(
     "custom_data",
     &rosbag2_storage::StorageOptions::custom_data);
diff --git a/rosbag2_storage/CMakeLists.txt b/rosbag2_storage/CMakeLists.txt
index cd4d7ab601..3d61538095 100644
--- a/rosbag2_storage/CMakeLists.txt
+++ b/rosbag2_storage/CMakeLists.txt
@@ -22,6 +22,7 @@ if(WIN32)
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
@@ -44,6 +45,7 @@ target_include_directories(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   pluginlib::pluginlib
   rcpputils::rcpputils
+  rclcpp::rclcpp
   rcutils::rcutils
   yaml-cpp
 )
diff --git a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
index 5dd5be67fb..c1d8387f17 100644
--- a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
+++ b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
@@ -21,6 +21,7 @@
 
 #include "rosbag2_storage/visibility_control.hpp"
 #include "rosbag2_storage/yaml.hpp"
+#include "rclcpp/time.hpp"
 
 namespace rosbag2_storage
 {
@@ -56,6 +57,10 @@ struct StorageOptions
   // Defaults to disabled.
   bool snapshot_mode = false;
 
+  // Start and end time for cutting
+  rcutils_time_point_value_t start_time = 0;
+  rcutils_time_point_value_t end_time = 0;
+
   // Stores the custom data
   std::unordered_map<std::string, std::string> custom_data{};
 };
diff --git a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
index b6925666d4..1f2cabd09d 100644
--- a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
+++ b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
@@ -32,6 +32,8 @@ Node convert<rosbag2_storage::StorageOptions>::encode(
   node["storage_preset_profile"] = storage_options.storage_preset_profile;
   node["storage_config_uri"] = storage_options.storage_config_uri;
   node["snapshot_mode"] = storage_options.snapshot_mode;
+  node["start_time"] = storage_options.start_time;
+  node["end_time"] = storage_options.end_time;
   node["custom_data"] = storage_options.custom_data;
   return node;
 }
@@ -48,6 +50,8 @@ bool convert<rosbag2_storage::StorageOptions>::decode(
     node, "storage_preset_profile", storage_options.storage_preset_profile);
   optional_assign<std::string>(node, "storage_config_uri", storage_options.storage_config_uri);
   optional_assign<bool>(node, "snapshot_mode", storage_options.snapshot_mode);
+  optional_assign<rcutils_time_point_value_t>(node, "start_time", storage_options.start_time);
+  optional_assign<rcutils_time_point_value_t>(node, "end_time", storage_options.end_time);
   using KEY_VALUE_MAP = std::unordered_map<std::string, std::string>;
   optional_assign<KEY_VALUE_MAP>(node, "custom_data", storage_options.custom_data);
   return true;
diff --git a/rosbag2_storage_mcap/CMakeLists.txt b/rosbag2_storage_mcap/CMakeLists.txt
index f19e9f3446..441ca44ad3 100644
--- a/rosbag2_storage_mcap/CMakeLists.txt
+++ b/rosbag2_storage_mcap/CMakeLists.txt
@@ -24,6 +24,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(mcap_vendor REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
@@ -43,6 +44,7 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROSBAG2_STORAGE_MCAP_BUILDIN
 target_link_libraries(${PROJECT_NAME}
   mcap_vendor::mcap
   pluginlib::pluginlib
+  rclcpp::rclcpp
   rcutils::rcutils
   rosbag2_storage::rosbag2_storage
 )
diff --git a/rosbag2_storage_mcap/src/mcap_storage.cpp b/rosbag2_storage_mcap/src/mcap_storage.cpp
index 716967a12b..8a35d652f9 100644
--- a/rosbag2_storage_mcap/src/mcap_storage.cpp
+++ b/rosbag2_storage_mcap/src/mcap_storage.cpp
@@ -733,7 +733,7 @@ void MCAPStorage::write(std::shared_ptr<const rosbag2_storage::SerializedBagMess
   mcap_msg.channelId = channel_it->second;
   mcap_msg.sequence = 0;
   if (msg->time_stamp < 0) {
-    RCUTILS_LOG_WARN_NAMED(LOG_NAME, "Invalid message timestamp %ld", msg->time_stamp);
+    RCUTILS_LOG_WARN_NAMED(LOG_NAME, "Invalid message timestamp %lld", msg->time_stamp);
   }
   mcap_msg.logTime = mcap::Timestamp(msg->time_stamp);
   mcap_msg.publishTime = mcap_msg.logTime;
diff --git a/rosbag2_storage_sqlite3/CMakeLists.txt b/rosbag2_storage_sqlite3/CMakeLists.txt
index 2c13fcf488..8df9a97cef 100644
--- a/rosbag2_storage_sqlite3/CMakeLists.txt
+++ b/rosbag2_storage_sqlite3/CMakeLists.txt
@@ -25,6 +25,7 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosbag2_storage REQUIRED)
 find_package(sqlite3_vendor REQUIRED)
@@ -42,6 +43,7 @@ target_link_libraries(${PROJECT_NAME}
   pluginlib::pluginlib
   rosbag2_storage::rosbag2_storage
   rcpputils::rcpputils
+  rclcpp::rclcpp
   rcutils::rcutils
   SQLite::SQLite3
   yaml-cpp

From c07d785eef966585d2b4628d5363dc5ac49d01f2 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 17:49:10 +0200
Subject: [PATCH 02/13] fix linelength and whitespace

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../src/rosbag2_cpp/writers/sequential_writer.cpp  | 14 +++++++++-----
 rosbag2_py/src/rosbag2_py/_storage.cpp             |  4 ++--
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 86d41e4bdf..708c2c44e7 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -354,7 +354,8 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
   const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
     std::chrono::nanoseconds(message->time_stamp));
 
-  if (! message_within_accepted_time_range(message_timestamp)) return;
+  if (!message_within_accepted_time_range(message_timestamp))
+    return;
 
   if (is_first_message_) {
     // Update bagfile starting time
@@ -434,14 +435,17 @@ bool SequentialWriter::should_split_bagfile(
   return should_split;
 }
 
-bool SequentialWriter::message_within_accepted_time_range(const std::chrono::time_point<std::chrono::high_resolution_clock> &current_time) const
+bool SequentialWriter::message_within_accepted_time_range(
+  const std::chrono::time_point<std::chrono::high_resolution_clock> &current_time) const
 {
-  bool retVal=true;
+  bool retVal = true;
   if ( (storage_options_.start_time > 0) &&
-        current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds(storage_options_.start_time)) )
+        current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(
+                       std::chrono::nanoseconds(storage_options_.start_time)) )
           retVal = false;
   else if ( ( storage_options_.end_time > 0) &&
-        current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds(storage_options_.end_time)) )
+        current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
+                       std::chrono::nanoseconds(storage_options_.end_time)) )
           retVal = false;
   return retVal;
 }
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index 509581bf29..e498f96f60 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -83,8 +83,8 @@ PYBIND11_MODULE(_storage, m) {
   pybind11::class_<rosbag2_storage::StorageOptions>(m, "StorageOptions")
   .def(
     pybind11::init<
-      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool, rcutils_time_point_value_t, rcutils_time_point_value_t,
-      KEY_VALUE_MAP>(),
+      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool,
+      rcutils_time_point_value_t, rcutils_time_point_value_t, KEY_VALUE_MAP>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id") = "",
     pybind11::arg("max_bagfile_size") = 0,

From 134daba4a3e6028da1ff5fb46595cee7aaafd6c9 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 20:28:43 +0200
Subject: [PATCH 03/13] minor fix warning %lld versus long int

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_storage_mcap/src/mcap_storage.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosbag2_storage_mcap/src/mcap_storage.cpp b/rosbag2_storage_mcap/src/mcap_storage.cpp
index 8a35d652f9..716967a12b 100644
--- a/rosbag2_storage_mcap/src/mcap_storage.cpp
+++ b/rosbag2_storage_mcap/src/mcap_storage.cpp
@@ -733,7 +733,7 @@ void MCAPStorage::write(std::shared_ptr<const rosbag2_storage::SerializedBagMess
   mcap_msg.channelId = channel_it->second;
   mcap_msg.sequence = 0;
   if (msg->time_stamp < 0) {
-    RCUTILS_LOG_WARN_NAMED(LOG_NAME, "Invalid message timestamp %lld", msg->time_stamp);
+    RCUTILS_LOG_WARN_NAMED(LOG_NAME, "Invalid message timestamp %ld", msg->time_stamp);
   }
   mcap_msg.logTime = mcap::Timestamp(msg->time_stamp);
   mcap_msg.publishTime = mcap_msg.logTime;

From d5295cc867fdb41bc4b36b2282a9e4e4bebbca4f Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 21:58:52 +0200
Subject: [PATCH 04/13] Minor whitespace uncrustify fix

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../rosbag2_cpp/writers/sequential_writer.cpp | 22 +++++++++++--------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 708c2c44e7..0a6f302e5c 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -354,8 +354,9 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
   const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
     std::chrono::nanoseconds(message->time_stamp));
 
-  if (!message_within_accepted_time_range(message_timestamp))
+  if (!message_within_accepted_time_range(message_timestamp)) {
     return;
+  }
 
   if (is_first_message_) {
     // Update bagfile starting time
@@ -436,17 +437,20 @@ bool SequentialWriter::should_split_bagfile(
 }
 
 bool SequentialWriter::message_within_accepted_time_range(
-  const std::chrono::time_point<std::chrono::high_resolution_clock> &current_time) const
+  const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const
 {
   bool retVal = true;
   if ( (storage_options_.start_time > 0) &&
-        current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(
-                       std::chrono::nanoseconds(storage_options_.start_time)) )
-          retVal = false;
-  else if ( ( storage_options_.end_time > 0) &&
-        current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
-                       std::chrono::nanoseconds(storage_options_.end_time)) )
-          retVal = false;
+    current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(
+      std::chrono::nanoseconds(storage_options_.start_time)) )
+  {
+    retVal = false;
+  } else if ( ( storage_options_.end_time > 0) &&
+    current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
+      std::chrono::nanoseconds(storage_options_.end_time)) )
+  {
+    retVal = false;
+  }
   return retVal;
 }
 

From f93333239c673a9c7db87196c61f891f6a7bcdc6 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 22:34:41 +0200
Subject: [PATCH 05/13] minor cpplint whitespace/indent change

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 0a6f302e5c..88df52799d 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -445,11 +445,13 @@ bool SequentialWriter::message_within_accepted_time_range(
       std::chrono::nanoseconds(storage_options_.start_time)) )
   {
     retVal = false;
-  } else if ( ( storage_options_.end_time > 0) &&
+  } else {
+    if ( (storage_options_.end_time > 0) &&
     current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
       std::chrono::nanoseconds(storage_options_.end_time)) )
-  {
-    retVal = false;
+    {
+      retVal = false;
+    }
   }
   return retVal;
 }

From aeb07d356ef7f3a5a9990d391026b4f9549e9362 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Sun, 3 Sep 2023 23:01:11 +0200
Subject: [PATCH 06/13] minor whitespace fix

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 88df52799d..005b627a20 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -447,8 +447,8 @@ bool SequentialWriter::message_within_accepted_time_range(
     retVal = false;
   } else {
     if ( (storage_options_.end_time > 0) &&
-    current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
-      std::chrono::nanoseconds(storage_options_.end_time)) )
+      current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
+        std::chrono::nanoseconds(storage_options_.end_time)) )
     {
       retVal = false;
     }

From 87e99bd046b6809c593ef9cc4f76e4b5f600d655 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Mon, 25 Sep 2023 21:06:24 +0200
Subject: [PATCH 07/13] Remove dependency on rclcpp for sequential_writer by
 using uint64_t. Moved timestamp check above Get TopicInformation Added
 parsing test.

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../rosbag2_cpp/writers/sequential_writer.hpp |  1 +
 .../rosbag2_cpp/writers/sequential_writer.cpp | 30 +++++++++----------
 rosbag2_py/src/rosbag2_py/_storage.cpp        | 14 ++++-----
 rosbag2_storage/CMakeLists.txt                |  2 --
 .../rosbag2_storage/storage_options.hpp       |  5 ++--
 .../src/rosbag2_storage/storage_options.cpp   |  8 ++---
 .../rosbag2_storage/test_storage_options.cpp  |  4 +++
 7 files changed, 33 insertions(+), 31 deletions(-)

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
index cd5e27cf69..0787868ff1 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -117,6 +117,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
 
   /**
    * Write a message to a bagfile. The topic needs to have been created before writing is possible.
+   * Only writes message if timestamp is within start_time_ns and end_time_ns.
    *
    * \param message to be written to the bagfile
    * \throws runtime_error if the Writer is not open.
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 005b627a20..2ca9ecd6d2 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -340,6 +340,13 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
     throw std::runtime_error("Bag is not open. Call open() before writing.");
   }
 
+  const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
+    std::chrono::nanoseconds(message->time_stamp));
+
+  if (!message_within_accepted_time_range(message_timestamp)) {
+    return;
+  }
+
   // Get TopicInformation handler for counting messages.
   rosbag2_storage::TopicInformation * topic_information {nullptr};
   try {
@@ -351,13 +358,6 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
     throw std::runtime_error(errmsg.str());
   }
 
-  const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
-    std::chrono::nanoseconds(message->time_stamp));
-
-  if (!message_within_accepted_time_range(message_timestamp)) {
-    return;
-  }
-
   if (is_first_message_) {
     // Update bagfile starting time
     metadata_.starting_time = message_timestamp;
@@ -439,21 +439,21 @@ bool SequentialWriter::should_split_bagfile(
 bool SequentialWriter::message_within_accepted_time_range(
   const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const
 {
-  bool retVal = true;
-  if ( (storage_options_.start_time > 0) &&
+  bool ret_value = true;
+  if ( (storage_options_.start_time_ns > 0) &&
     current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(
-      std::chrono::nanoseconds(storage_options_.start_time)) )
+      std::chrono::nanoseconds(storage_options_.start_time_ns)) )
   {
-    retVal = false;
+    ret_value = false;
   } else {
-    if ( (storage_options_.end_time > 0) &&
+    if ( (storage_options_.end_time_ns > 0) &&
       current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
-        std::chrono::nanoseconds(storage_options_.end_time)) )
+        std::chrono::nanoseconds(storage_options_.end_time_ns)) )
     {
-      retVal = false;
+      ret_value = false;
     }
   }
-  return retVal;
+  return ret_value;
 }
 
 void SequentialWriter::finalize_metadata()
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index e498f96f60..a75c4412fc 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -84,7 +84,7 @@ PYBIND11_MODULE(_storage, m) {
   .def(
     pybind11::init<
       std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool,
-      rcutils_time_point_value_t, rcutils_time_point_value_t, KEY_VALUE_MAP>(),
+      uint64_t, uint64_t, KEY_VALUE_MAP>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id") = "",
     pybind11::arg("max_bagfile_size") = 0,
@@ -93,8 +93,8 @@ PYBIND11_MODULE(_storage, m) {
     pybind11::arg("storage_preset_profile") = "",
     pybind11::arg("storage_config_uri") = "",
     pybind11::arg("snapshot_mode") = false,
-    pybind11::arg("start_time") = 0,
-    pybind11::arg("end_time") = 0,
+    pybind11::arg("start_time_ns") = 0,
+    pybind11::arg("end_time_ns") = 0,
     pybind11::arg("custom_data") = KEY_VALUE_MAP{})
   .def_readwrite("uri", &rosbag2_storage::StorageOptions::uri)
   .def_readwrite("storage_id", &rosbag2_storage::StorageOptions::storage_id)
@@ -117,11 +117,11 @@ PYBIND11_MODULE(_storage, m) {
     "snapshot_mode",
     &rosbag2_storage::StorageOptions::snapshot_mode)
   .def_readwrite(
-    "start_time",
-    &rosbag2_storage::StorageOptions::start_time)
+    "start_time_ns",
+    &rosbag2_storage::StorageOptions::start_time_ns)
   .def_readwrite(
-    "end_time",
-    &rosbag2_storage::StorageOptions::end_time)
+    "end_time_ns",
+    &rosbag2_storage::StorageOptions::end_time_ns)
   .def_readwrite(
     "custom_data",
     &rosbag2_storage::StorageOptions::custom_data);
diff --git a/rosbag2_storage/CMakeLists.txt b/rosbag2_storage/CMakeLists.txt
index 3d61538095..cd4d7ab601 100644
--- a/rosbag2_storage/CMakeLists.txt
+++ b/rosbag2_storage/CMakeLists.txt
@@ -22,7 +22,6 @@ if(WIN32)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
@@ -45,7 +44,6 @@ target_include_directories(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   pluginlib::pluginlib
   rcpputils::rcpputils
-  rclcpp::rclcpp
   rcutils::rcutils
   yaml-cpp
 )
diff --git a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
index c1d8387f17..bd81a23052 100644
--- a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
+++ b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
@@ -21,7 +21,6 @@
 
 #include "rosbag2_storage/visibility_control.hpp"
 #include "rosbag2_storage/yaml.hpp"
-#include "rclcpp/time.hpp"
 
 namespace rosbag2_storage
 {
@@ -58,8 +57,8 @@ struct StorageOptions
   bool snapshot_mode = false;
 
   // Start and end time for cutting
-  rcutils_time_point_value_t start_time = 0;
-  rcutils_time_point_value_t end_time = 0;
+  uint64_t start_time_ns = 0;
+  uint64_t end_time_ns = 0;
 
   // Stores the custom data
   std::unordered_map<std::string, std::string> custom_data{};
diff --git a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
index 1f2cabd09d..abf78e3c9e 100644
--- a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
+++ b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
@@ -32,8 +32,8 @@ Node convert<rosbag2_storage::StorageOptions>::encode(
   node["storage_preset_profile"] = storage_options.storage_preset_profile;
   node["storage_config_uri"] = storage_options.storage_config_uri;
   node["snapshot_mode"] = storage_options.snapshot_mode;
-  node["start_time"] = storage_options.start_time;
-  node["end_time"] = storage_options.end_time;
+  node["start_time_ns"] = storage_options.start_time_ns;
+  node["end_time_ns"] = storage_options.end_time_ns;
   node["custom_data"] = storage_options.custom_data;
   return node;
 }
@@ -50,8 +50,8 @@ bool convert<rosbag2_storage::StorageOptions>::decode(
     node, "storage_preset_profile", storage_options.storage_preset_profile);
   optional_assign<std::string>(node, "storage_config_uri", storage_options.storage_config_uri);
   optional_assign<bool>(node, "snapshot_mode", storage_options.snapshot_mode);
-  optional_assign<rcutils_time_point_value_t>(node, "start_time", storage_options.start_time);
-  optional_assign<rcutils_time_point_value_t>(node, "end_time", storage_options.end_time);
+  optional_assign<uint64_t>(node, "start_time_ns", storage_options.start_time_ns);
+  optional_assign<uint64_t>(node, "end_time_ns", storage_options.end_time_ns);
   using KEY_VALUE_MAP = std::unordered_map<std::string, std::string>;
   optional_assign<KEY_VALUE_MAP>(node, "custom_data", storage_options.custom_data);
   return true;
diff --git a/rosbag2_storage/test/rosbag2_storage/test_storage_options.cpp b/rosbag2_storage/test/rosbag2_storage/test_storage_options.cpp
index 3163201ac5..aa21761178 100644
--- a/rosbag2_storage/test/rosbag2_storage/test_storage_options.cpp
+++ b/rosbag2_storage/test/rosbag2_storage/test_storage_options.cpp
@@ -29,6 +29,8 @@ TEST(storage_options, test_yaml_serialization)
   original.storage_preset_profile = "profile";
   original.storage_config_uri = "config_uri";
   original.snapshot_mode = true;
+  original.start_time_ns = 12345000;
+  original.end_time_ns = 23456000;
   original.custom_data["key1"] = "value1";
   original.custom_data["key2"] = "value2";
 
@@ -48,5 +50,7 @@ TEST(storage_options, test_yaml_serialization)
   ASSERT_EQ(original.storage_preset_profile, reconstructed.storage_preset_profile);
   ASSERT_EQ(original.storage_config_uri, reconstructed.storage_config_uri);
   ASSERT_EQ(original.snapshot_mode, reconstructed.snapshot_mode);
+  ASSERT_EQ(original.start_time_ns, reconstructed.start_time_ns);
+  ASSERT_EQ(original.end_time_ns, reconstructed.end_time_ns);
   ASSERT_EQ(original.custom_data, reconstructed.custom_data);
 }

From d24566a4ae05a0995c93f7e53fbd38e943f0dbfc Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Wed, 27 Sep 2023 11:03:16 +0200
Subject: [PATCH 08/13] Remove superfluous dependency on rclcpp.

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_storage_mcap/CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/rosbag2_storage_mcap/CMakeLists.txt b/rosbag2_storage_mcap/CMakeLists.txt
index 441ca44ad3..f19e9f3446 100644
--- a/rosbag2_storage_mcap/CMakeLists.txt
+++ b/rosbag2_storage_mcap/CMakeLists.txt
@@ -24,7 +24,6 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_index_cpp REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(mcap_vendor REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
@@ -44,7 +43,6 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROSBAG2_STORAGE_MCAP_BUILDIN
 target_link_libraries(${PROJECT_NAME}
   mcap_vendor::mcap
   pluginlib::pluginlib
-  rclcpp::rclcpp
   rcutils::rcutils
   rosbag2_storage::rosbag2_storage
 )

From f431f3870ab75262b98c01216d1269ffa1da727b Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Wed, 27 Sep 2023 11:04:56 +0200
Subject: [PATCH 09/13] Add note that start_time_ns and end_time_ns are from
 storage_options.

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
index 0787868ff1..d36e09a2ee 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -117,7 +117,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
 
   /**
    * Write a message to a bagfile. The topic needs to have been created before writing is possible.
-   * Only writes message if timestamp is within start_time_ns and end_time_ns.
+   * Only writes message if within start_time_ns and end_time_ns (from storage_options).
    *
    * \param message to be written to the bagfile
    * \throws runtime_error if the Writer is not open.

From f26a0bbd595a116a033aa36faf7343dac6414263 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Wed, 27 Sep 2023 15:13:37 +0200
Subject: [PATCH 10/13] Simplified message_within_accepted_time_range now uses
 int64_t.

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../rosbag2_cpp/writers/sequential_writer.hpp |  2 +-
 .../rosbag2_cpp/writers/sequential_writer.cpp | 44 +++++++++----------
 rosbag2_py/src/rosbag2_py/_storage.cpp        |  6 +--
 .../rosbag2_storage/storage_options.hpp       |  4 +-
 .../src/rosbag2_storage/storage_options.cpp   |  4 +-
 5 files changed, 29 insertions(+), 31 deletions(-)

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
index d36e09a2ee..1695203185 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -177,7 +177,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
 
   // Checks if the message to be written is within accepted time range
   bool message_within_accepted_time_range(
-    const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const;
+    const rcutils_time_point_value_t current_time) const;
 
   // Prepares the metadata by setting initial values.
   virtual void init_metadata();
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 2ca9ecd6d2..92f16b2c1a 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -340,10 +340,7 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
     throw std::runtime_error("Bag is not open. Call open() before writing.");
   }
 
-  const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
-    std::chrono::nanoseconds(message->time_stamp));
-
-  if (!message_within_accepted_time_range(message_timestamp)) {
+  if (!message_within_accepted_time_range(message->time_stamp)) {
     return;
   }
 
@@ -358,6 +355,9 @@ void SequentialWriter::write(std::shared_ptr<const rosbag2_storage::SerializedBa
     throw std::runtime_error(errmsg.str());
   }
 
+  const auto message_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
+    std::chrono::nanoseconds(message->time_stamp));
+
   if (is_first_message_) {
     // Update bagfile starting time
     metadata_.starting_time = message_timestamp;
@@ -436,25 +436,23 @@ bool SequentialWriter::should_split_bagfile(
   return should_split;
 }
 
-bool SequentialWriter::message_within_accepted_time_range(
-  const std::chrono::time_point<std::chrono::high_resolution_clock> & current_time) const
-{
-  bool ret_value = true;
-  if ( (storage_options_.start_time_ns > 0) &&
-    current_time < std::chrono::time_point<std::chrono::high_resolution_clock>(
-      std::chrono::nanoseconds(storage_options_.start_time_ns)) )
-  {
-    ret_value = false;
-  } else {
-    if ( (storage_options_.end_time_ns > 0) &&
-      current_time > std::chrono::time_point<std::chrono::high_resolution_clock>(
-        std::chrono::nanoseconds(storage_options_.end_time_ns)) )
-    {
-      ret_value = false;
-    }
-  }
-  return ret_value;
-}
+bool SequentialWriter::message_within_accepted_time_range(  
+  const rcutils_time_point_value_t current_time) const  
+{  
+  if (storage_options_.start_time_ns >= 0 &&  
+      static_cast<int64_t>(current_time) < storage_options_.start_time_ns)  
+  {  
+    return false;  
+  }  
+  
+  if (storage_options_.end_time_ns >= 0 &&  
+      static_cast<int64_t>(current_time) > storage_options_.end_time_ns)  
+  {  
+    return false;  
+  }  
+  
+  return true;  
+}  
 
 void SequentialWriter::finalize_metadata()
 {
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index a75c4412fc..56a719bb38 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -84,7 +84,7 @@ PYBIND11_MODULE(_storage, m) {
   .def(
     pybind11::init<
       std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool,
-      uint64_t, uint64_t, KEY_VALUE_MAP>(),
+      int64_t, int64_t, KEY_VALUE_MAP>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id") = "",
     pybind11::arg("max_bagfile_size") = 0,
@@ -93,8 +93,8 @@ PYBIND11_MODULE(_storage, m) {
     pybind11::arg("storage_preset_profile") = "",
     pybind11::arg("storage_config_uri") = "",
     pybind11::arg("snapshot_mode") = false,
-    pybind11::arg("start_time_ns") = 0,
-    pybind11::arg("end_time_ns") = 0,
+    pybind11::arg("start_time_ns") = -1,
+    pybind11::arg("end_time_ns") = -1,
     pybind11::arg("custom_data") = KEY_VALUE_MAP{})
   .def_readwrite("uri", &rosbag2_storage::StorageOptions::uri)
   .def_readwrite("storage_id", &rosbag2_storage::StorageOptions::storage_id)
diff --git a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
index bd81a23052..8d6d188459 100644
--- a/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
+++ b/rosbag2_storage/include/rosbag2_storage/storage_options.hpp
@@ -57,8 +57,8 @@ struct StorageOptions
   bool snapshot_mode = false;
 
   // Start and end time for cutting
-  uint64_t start_time_ns = 0;
-  uint64_t end_time_ns = 0;
+  int64_t start_time_ns = -1;
+  int64_t end_time_ns = -1;
 
   // Stores the custom data
   std::unordered_map<std::string, std::string> custom_data{};
diff --git a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
index abf78e3c9e..717fcb9082 100644
--- a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
+++ b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
@@ -50,8 +50,8 @@ bool convert<rosbag2_storage::StorageOptions>::decode(
     node, "storage_preset_profile", storage_options.storage_preset_profile);
   optional_assign<std::string>(node, "storage_config_uri", storage_options.storage_config_uri);
   optional_assign<bool>(node, "snapshot_mode", storage_options.snapshot_mode);
-  optional_assign<uint64_t>(node, "start_time_ns", storage_options.start_time_ns);
-  optional_assign<uint64_t>(node, "end_time_ns", storage_options.end_time_ns);
+  optional_assign<int64_t>(node, "start_time_ns", storage_options.start_time_ns);
+  optional_assign<int64_t>(node, "end_time_ns", storage_options.end_time_ns);
   using KEY_VALUE_MAP = std::unordered_map<std::string, std::string>;
   optional_assign<KEY_VALUE_MAP>(node, "custom_data", storage_options.custom_data);
   return true;

From 15da4624b417f95b5762b3cd7b97e4e09d7d681e Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Wed, 27 Sep 2023 17:28:29 +0200
Subject: [PATCH 11/13] whitespace fixes only

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 .../rosbag2_cpp/writers/sequential_writer.cpp | 34 +++++++++----------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 92f16b2c1a..7cd55bca35 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -436,23 +436,23 @@ bool SequentialWriter::should_split_bagfile(
   return should_split;
 }
 
-bool SequentialWriter::message_within_accepted_time_range(  
-  const rcutils_time_point_value_t current_time) const  
-{  
-  if (storage_options_.start_time_ns >= 0 &&  
-      static_cast<int64_t>(current_time) < storage_options_.start_time_ns)  
-  {  
-    return false;  
-  }  
-  
-  if (storage_options_.end_time_ns >= 0 &&  
-      static_cast<int64_t>(current_time) > storage_options_.end_time_ns)  
-  {  
-    return false;  
-  }  
-  
-  return true;  
-}  
+bool SequentialWriter::message_within_accepted_time_range(
+  const rcutils_time_point_value_t current_time) const
+{
+  if (storage_options_.start_time_ns >= 0 &&
+      static_cast<int64_t>(current_time) < storage_options_.start_time_ns)
+  {
+    return false;
+  }
+
+  if (storage_options_.end_time_ns >= 0 &&
+      static_cast<int64_t>(current_time) > storage_options_.end_time_ns)
+  {
+    return false;
+  }
+
+  return true;
+}
 
 void SequentialWriter::finalize_metadata()
 {

From d660fe6689a9e9982fb9841f04a0badb21dd3816 Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Wed, 27 Sep 2023 17:51:07 +0200
Subject: [PATCH 12/13] minor whitespace change

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 7cd55bca35..2bbafa689b 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -440,13 +440,13 @@ bool SequentialWriter::message_within_accepted_time_range(
   const rcutils_time_point_value_t current_time) const
 {
   if (storage_options_.start_time_ns >= 0 &&
-      static_cast<int64_t>(current_time) < storage_options_.start_time_ns)
+    static_cast<int64_t>(current_time) < storage_options_.start_time_ns)
   {
     return false;
   }
 
   if (storage_options_.end_time_ns >= 0 &&
-      static_cast<int64_t>(current_time) > storage_options_.end_time_ns)
+    static_cast<int64_t>(current_time) > storage_options_.end_time_ns)
   {
     return false;
   }

From 9bb32053ba2924fb78edca220fd77d2ac72b431a Mon Sep 17 00:00:00 2001
From: Peter Favrholdt <ros2github@how.dk>
Date: Thu, 28 Sep 2023 11:08:16 +0200
Subject: [PATCH 13/13] remove superfluous dependency on rclcpp from
 storage_sqlite3

Signed-off-by: Peter Favrholdt <ros2github@how.dk>
---
 rosbag2_storage_sqlite3/CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/rosbag2_storage_sqlite3/CMakeLists.txt b/rosbag2_storage_sqlite3/CMakeLists.txt
index 8df9a97cef..2c13fcf488 100644
--- a/rosbag2_storage_sqlite3/CMakeLists.txt
+++ b/rosbag2_storage_sqlite3/CMakeLists.txt
@@ -25,7 +25,6 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcpputils REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosbag2_storage REQUIRED)
 find_package(sqlite3_vendor REQUIRED)
@@ -43,7 +42,6 @@ target_link_libraries(${PROJECT_NAME}
   pluginlib::pluginlib
   rosbag2_storage::rosbag2_storage
   rcpputils::rcpputils
-  rclcpp::rclcpp
   rcutils::rcutils
   SQLite::SQLite3
   yaml-cpp