doc: readme: fix example conversion configs: all -> all_topics by ottojo · Pull Request #1661 · ros2/rosbag2

ottojo · 2024-05-19T17:23:31Z

this was changed in #1480, see issue #1660

Signed-off-by: Jonas Otto <jonas@jonasotto.com>

fujitatomoya

good eye! lgtm.

@MichaelOrlov @Barry-Xu-2018 this actually breaks the user configuration as reported. i will go through the documentation again.

Barry-Xu-2018 · 2024-05-20T02:08:03Z

The RecordOptions has already been changed quite a bit.
Refer to the code below.

rosbag2/rosbag2_transport/src/rosbag2_transport/record_options.cpp

Lines 58 to 103 in 5a06430

    
           bool convert<rosbag2_transport::RecordOptions>::decode( 
        
             const Node & node, rosbag2_transport::RecordOptions & record_options, int version) 
        
           { 
        
             optional_assign<bool>(node, "all_topics", record_options.all_topics); 
        
             optional_assign<bool>(node, "all_services", record_options.all_services); 
        
             optional_assign<bool>(node, "is_discovery_disabled", record_options.is_discovery_disabled); 
        
             optional_assign<std::vector<std::string>>(node, "topics", record_options.topics); 
        
             optional_assign<std::vector<std::string>>(node, "topic_types", record_options.topic_types); 
        
             optional_assign<std::vector<std::string>>(node, "services", record_options.services); 
        
             optional_assign<std::string>( 
        
               node, "rmw_serialization_format", record_options.rmw_serialization_format); 
        
             optional_assign<std::chrono::milliseconds>( 
        
               node, "topic_polling_interval", record_options.topic_polling_interval); 
        
             optional_assign<std::string>(node, "regex", record_options.regex); 
        
             optional_assign<std::string>(node, "exclude_regex", record_options.exclude_regex); 
        
             optional_assign<std::vector<std::string>>(node, "exclude_topics", record_options.exclude_topics); 
        
             optional_assign<std::vector<std::string>>( 
        
               node, "exclude_topic_types", 
        
               record_options.exclude_topic_types); 
        
             optional_assign<std::vector<std::string>>( 
        
               node, "exclude_services", record_options.exclude_service_events); 
        
             optional_assign<std::string>(node, "node_prefix", record_options.node_prefix); 
        
             optional_assign<std::string>(node, "compression_mode", record_options.compression_mode); 
        
             optional_assign<std::string>(node, "compression_format", record_options.compression_format); 
        
             optional_assign<uint64_t>(node, "compression_queue_size", record_options.compression_queue_size); 
        
             optional_assign<uint64_t>(node, "compression_threads", record_options.compression_threads); 
        
             optional_assign<int32_t>( 
        
               node, "compression_threads_priority", 
        
               record_options.compression_threads_priority); 
        
             std::unordered_map<std::string, rclcpp::QoS> qos_overrides; 
        
             if (node["topic_qos_profile_overrides"]) { 
        
               qos_overrides = YAML::decode_for_version<std::unordered_map<std::string, rclcpp::QoS>>( 
        
                 node["topic_qos_profile_overrides"], version); 
        
             } 
        
             record_options.topic_qos_profile_overrides = qos_overrides; 
        
             optional_assign<bool>(node, "include_hidden_topics", record_options.include_hidden_topics); 
        
             optional_assign<bool>( 
        
               node, "include_unpublished_topics", 
        
               record_options.include_unpublished_topics); 
        
             optional_assign<bool>( 
        
               node, "disable_keyboard_controls", 
        
               record_options.disable_keyboard_controls);

The current README.md only mentions part of it. Is it necessary to point to the relevant code, so users know what can be configured ? @fujitatomoya @MichaelOrlov

rosbag2/README.md

Lines 221 to 240 in 5a06430

    
           ``` 
        
           output_bags: 
        
           - uri: /output/bag1  # required 
        
             storage_id: ""  # will use the default storage plugin, if unspecified 
        
             max_bagfile_size: 0 
        
             max_bagfile_duration: 0 
        
             storage_preset_profile: "" 
        
             storage_config_uri: "" 
        
             all: false 
        
             topics: [] 
        
             rmw_serialization_format: ""  # defaults to using the format of the input topic 
        
             regex: "" 
        
             exclude: "" 
        
             compression_mode: "" 
        
             compression_format: "" 
        
             compression_queue_size: 1 
        
             compression_threads: 0 
        
             include_hidden_topics: false 
        
             include_unpublished_topics: false 
        
           ```

Barry-Xu-2018 · 2024-05-20T02:13:43Z

@ottojo

Additionally. exclude should be changed to exclude_regex.
Please refer to

rosbag2/rosbag2_transport/src/rosbag2_transport/record_options.cpp

Lines 58 to 103 in 5a06430

    
           bool convert<rosbag2_transport::RecordOptions>::decode( 
        
             const Node & node, rosbag2_transport::RecordOptions & record_options, int version) 
        
           { 
        
             optional_assign<bool>(node, "all_topics", record_options.all_topics); 
        
             optional_assign<bool>(node, "all_services", record_options.all_services); 
        
             optional_assign<bool>(node, "is_discovery_disabled", record_options.is_discovery_disabled); 
        
             optional_assign<std::vector<std::string>>(node, "topics", record_options.topics); 
        
             optional_assign<std::vector<std::string>>(node, "topic_types", record_options.topic_types); 
        
             optional_assign<std::vector<std::string>>(node, "services", record_options.services); 
        
             optional_assign<std::string>( 
        
               node, "rmw_serialization_format", record_options.rmw_serialization_format); 
        
             optional_assign<std::chrono::milliseconds>( 
        
               node, "topic_polling_interval", record_options.topic_polling_interval); 
        
             optional_assign<std::string>(node, "regex", record_options.regex); 
        
             optional_assign<std::string>(node, "exclude_regex", record_options.exclude_regex); 
        
             optional_assign<std::vector<std::string>>(node, "exclude_topics", record_options.exclude_topics); 
        
             optional_assign<std::vector<std::string>>( 
        
               node, "exclude_topic_types", 
        
               record_options.exclude_topic_types); 
        
             optional_assign<std::vector<std::string>>( 
        
               node, "exclude_services", record_options.exclude_service_events); 
        
             optional_assign<std::string>(node, "node_prefix", record_options.node_prefix); 
        
             optional_assign<std::string>(node, "compression_mode", record_options.compression_mode); 
        
             optional_assign<std::string>(node, "compression_format", record_options.compression_format); 
        
             optional_assign<uint64_t>(node, "compression_queue_size", record_options.compression_queue_size); 
        
             optional_assign<uint64_t>(node, "compression_threads", record_options.compression_threads); 
        
             optional_assign<int32_t>( 
        
               node, "compression_threads_priority", 
        
               record_options.compression_threads_priority); 
        
             std::unordered_map<std::string, rclcpp::QoS> qos_overrides; 
        
             if (node["topic_qos_profile_overrides"]) { 
        
               qos_overrides = YAML::decode_for_version<std::unordered_map<std::string, rclcpp::QoS>>( 
        
                 node["topic_qos_profile_overrides"], version); 
        
             } 
        
             record_options.topic_qos_profile_overrides = qos_overrides; 
        
             optional_assign<bool>(node, "include_hidden_topics", record_options.include_hidden_topics); 
        
             optional_assign<bool>( 
        
               node, "include_unpublished_topics", 
        
               record_options.include_unpublished_topics); 
        
             optional_assign<bool>( 
        
               node, "disable_keyboard_controls", 
        
               record_options.disable_keyboard_controls);

…readme Signed-off-by: Jonas Otto <jonas@jonasotto.com>

ottojo · 2024-05-20T11:09:34Z

@Barry-Xu-2018 thanks for pointing me to the corresponding parts in the source. I updated the exclude key and added the other keys relevant for topic and service selection. I did not add all keys found in the source, i think some may already be excluded on purpose, because they are not relevant for bag conversion (such as for example disable_keyboard_controls, compression_threads_priority and topic_polling_interval)

ottojo · 2024-05-20T11:15:06Z

oh, i also just notice that it's not only the RecordingOptions but also StorageOptions, where the actual options are that i wanted to use prior to hitting this issue:

rosbag2/rosbag2_storage/src/rosbag2_storage/storage_options.cpp

Lines 44 to 56 in 5a06430

    
           storage_options.uri = node["uri"].as<std::string>(); 
        
           optional_assign<std::string>(node, "storage_id", storage_options.storage_id); 
        
           optional_assign<uint64_t>(node, "max_bagfile_size", storage_options.max_bagfile_size); 
        
           optional_assign<uint64_t>(node, "max_bagfile_duration", storage_options.max_bagfile_duration); 
        
           optional_assign<uint64_t>(node, "max_cache_size", storage_options.max_cache_size); 
        
           optional_assign<std::string>( 
        
             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<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);

fujitatomoya

lgtm.

i do not think we need to introduce all options here, but all options need to be aligned with the implementation.

MichaelOrlov

I think it will be valuable to add all_services: true for examples with bag compression and bag split.
To avoid other potential questions in the future, like "Why services were lost during conversion?"

README.md

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com>

MichaelOrlov

LGTM. Thanks for the PR!

clalancette

Looks good to me as well.

Given that this is a change to documentation, we can merge this without CI, but @MichaelOrlov I'll wait for you to do that. I think we should also backport this to the jazzy branch.

MichaelOrlov · 2024-05-21T17:53:41Z

Merging without CI run since changes only in the readme.md file.

MichaelOrlov · 2024-05-21T17:54:10Z

https://github.com/Mergifyio backport jazzy

mergify · 2024-05-21T17:54:23Z

backport jazzy

✅ Backports have been created

Details

#1668 doc: readme: fix example conversion configs: all -> all_topics (backport #1661) has been created for branch jazzy

* fix example conversion configs: all -> all_topics Signed-off-by: Jonas Otto <jonas@jonasotto.com> * update topic and service selection arguments in conversion config in readme Signed-off-by: Jonas Otto <jonas@jonasotto.com> * add all_services: true to first example Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com> * add all_services: true to second example Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com> --------- Signed-off-by: Jonas Otto <jonas@jonasotto.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit 938fafa)

#1668) * fix example conversion configs: all -> all_topics Signed-off-by: Jonas Otto <jonas@jonasotto.com> * update topic and service selection arguments in conversion config in readme Signed-off-by: Jonas Otto <jonas@jonasotto.com> * add all_services: true to first example Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com> * add all_services: true to second example Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com> --------- Signed-off-by: Jonas Otto <jonas@jonasotto.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit 938fafa) Co-authored-by: Jonas Otto <jonas@jonasotto.com>

ottojo requested a review from a team as a code owner May 19, 2024 17:23

ottojo requested review from gbiggs and jhdcs and removed request for a team May 19, 2024 17:23

fix example conversion configs: all -> all_topics

2fc2605

Signed-off-by: Jonas Otto <jonas@jonasotto.com>

ottojo force-pushed the fix-example-convert-configs branch from 442781e to 2fc2605 Compare May 19, 2024 17:24

fujitatomoya approved these changes May 19, 2024

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update topic and service selection arguments in conversion config in …

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…readme Signed-off-by: Jonas Otto <jonas@jonasotto.com>

fujitatomoya approved these changes May 20, 2024

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MichaelOrlov reviewed May 21, 2024

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ottojo and others added 2 commits May 21, 2024 16:08

add all_services: true to first example

6b6fc77

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com>

add all_services: true to second example

9b4d10d

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Jonas Otto <jonas@jonasotto.com>

MichaelOrlov approved these changes May 21, 2024

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clalancette approved these changes May 21, 2024

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MichaelOrlov merged commit 938fafa into ros2:rolling May 21, 2024

mergify bot mentioned this pull request May 21, 2024

[jazzy] doc: readme: fix example conversion configs: all -> all_topics (backport #1661) #1668

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ottojo deleted the fix-example-convert-configs branch May 21, 2024 19:11

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