rqt_bag slow/unusable on iron/jazzy

[befinitiv]

Hi

Coming from melodic, I always enjoyed analyzing bag data using rqt_bag tool. Recently, I started a new project using ROS2 iron and also jazzy and I noticed that the rqt_bag tool is almost unusable for me, quite in contrast to the melodic version.

Situation:

• A bag in either sqlite or MCAP format
• Contents:

Bag size:          2.4 GiB
Storage id:        mcap
Duration:          59.399s
Start:             Jun  5 2024 13:57:47.539 (1717588667.539)
End:               Jun  5 2024 13:58:46.939 (1717588726.939)
Messages:          15982
Topic information: Topic: /diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray | Count: 59 | Serialization Format: cdr
                   Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 45 | Serialization Format: cdr
                   Topic: /sensors/camera0/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 2254 | Serialization Format: cdr
                   Topic: /sensors/camera0/image_raw/ffmpeg | Type: ffmpeg_image_transport_msgs/msg/FFMPEGPacket | Count: 2250 | Serialization Format: cdr
                   Topic: /sensors/gnss0/fix | Type: sensor_msgs/msg/NavSatFix | Count: 514 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ntrip_client/rtcm | Type: rtcm_msgs/msg/Message | Count: 16 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_nav_cov | Type: ublox_ubx_msgs/msg/UBXNavCov | Count: 512 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_nav_hp_pos_llh | Type: ublox_ubx_msgs/msg/UBXNavHPPosLLH | Count: 512 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_nav_pvt | Type: ublox_ubx_msgs/msg/UBXNavPVT | Count: 512 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_nav_status | Type: ublox_ubx_msgs/msg/UBXNavStatus | Count: 102 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_rxm_rawx | Type: ublox_ubx_msgs/msg/UBXRxmRawx | Count: 1177 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_rxm_rtcm | Type: ublox_ubx_msgs/msg/UBXRxmRTCM | Count: 60 | Serialization Format: cdr
                   Topic: /sensors/gnss0/ubx_rxm_sfrbx | Type: ublox_ubx_msgs/msg/UBXRxmSfrbx | Count: 975 | Serialization Format: cdr
                   Topic: /sensors/ouster0/imu | Type: sensor_msgs/msg/Imu | Count: 5849 | Serialization Format: cdr
                   Topic: /sensors/ouster0/metadata | Type: std_msgs/msg/String | Count: 1 | Serialization Format: cdr
                   Topic: /sensors/ouster0/nearir_image | Type: sensor_msgs/msg/Image | Count: 585 | Serialization Format: cdr
                   Topic: /sensors/ouster0/points | Type: sensor_msgs/msg/PointCloud2 | Count: 553 | Serialization Format: cdr
                   Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 6 | Serialization Format: cdr

So it is neither small nor big. Using melodic rqt_bag I worked in the past on bags much much larger without any issues.

• System: Intel i7-5600U 12GB RAM, Ubuntu 22.04

Symptoms are:

• Even after the bag has loaded completely (indicated by the progress bar at the bottom), rqt_bag occupies the CPU 100% for a couple of minutes, then idles (only true for iron)
• The red marker cannot be repositioned, it stays at the beginning of the bag
• Sometimes (no obvious explanation why) the marker can be moved, but only moves after a delay of several seconds

Obviously, with these issues the tool is not usable.

Since I haven't found other people having similar issues, I am wondering whether there is something I am doing wrong here. Any advice would be highly appreciated.

[FedeAi]

Same for me on Ros Iron