Add snapshot_duration handling in composable recorder and player nodes

Signed-off-by: Michael Orlov <[email protected]>
ros2 · Oct 28, 2024 · eba69a7 · eba69a7
1 parent 2eb2450
commit eba69a7
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Showing 4 changed files with 6 additions and 0 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp b/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
@@ -375,6 +375,9 @@ get_storage_options_from_node_params(rclcpp::Node & node)
 
   storage_options.snapshot_mode = node.declare_parameter<bool>("storage.snapshot_mode", false);
 
+  storage_options.snapshot_duration =
+    param_utils::get_duration_from_node_param(node, "storage.snapshot_duration", 0, 0);
+
   auto list_of_key_value_strings = node.declare_parameter<std::vector<std::string>>(
     "storage.custom_data",
     std::vector<std::string>());

diff --git a/rosbag2_transport/test/resources/recorder_node_params.yaml b/rosbag2_transport/test/resources/recorder_node_params.yaml
@@ -41,6 +41,7 @@ recorder_params_node:
       max_cache_size: 989888
       storage_preset_profile: "none"
       snapshot_mode: false
+      snapshot_duration: 1.5
       custom_data: ["key1=value1", "key2=value2"]
       start_time_ns: 0
       end_time_ns: 100000
diff --git a/rosbag2_transport/test/rosbag2_transport/test_composable_player.cpp b/rosbag2_transport/test/rosbag2_transport/test_composable_player.cpp
@@ -186,6 +186,7 @@ TEST_P(ComposablePlayerTests, player_can_parse_parameters_from_file) {
   EXPECT_EQ(storage_options.max_cache_size, 9898);
   EXPECT_EQ(storage_options.storage_preset_profile, "resilient");
   EXPECT_EQ(storage_options.snapshot_mode, false);
+  EXPECT_DOUBLE_EQ(storage_options.snapshot_duration.seconds(), 1.5);
   std::unordered_map<std::string, std::string> custom_data{
     std::pair{"key1", "value1"},
     std::pair{"key2", "value2"}

diff --git a/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp b/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
@@ -256,6 +256,7 @@ TEST_P(ComposableRecorderTests, recorder_can_parse_parameters_from_file) {
   EXPECT_EQ(storage_options.max_cache_size, 989888);
   EXPECT_EQ(storage_options.storage_preset_profile, "none");
   EXPECT_EQ(storage_options.snapshot_mode, false);
+  EXPECT_DOUBLE_EQ(storage_options.snapshot_duration.seconds(), 1.5);
   std::unordered_map<std::string, std::string> custom_data{
     std::pair{"key1", "value1"},
     std::pair{"key2", "value2"}