RosBag odd padding parsing error fix #23
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Awesome stuff! Would be interested to know how this affects performance at all. Also, I'm not what you would call a good C++ developer, so would like to get some insight on the code from @jaredjxyz or @zig-for. Will look over the general concept though! |
jaredjxyz
reviewed
Sep 16, 2021
There was a problem hiding this comment.
In general I see no issue here, code is pretty clean and good comments, not too hard to follow along with what rospy does, thanks.
I would really like to see a well thought out testing plan - Can you make sure to test this pretty extensively to ensure it works in all places we're using embag? It could be a pretty big issue if there's a bug in here.
added 2 commits
September 16, 2021 18:27
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description of Changes
Currently, we naively iterate through the bagfile records, parsing them one-by-one, assuming the next record always ends flush to the previous record. In some very rare cases, a bagfile will contain junk/padding between the end of the
CHUNKandINDEXsections of the bag, breaking the previously stated assumption.This PR modifies how we parse bags, using a more informed models, where we seek to specific locations in the file that we are certain contain specific record types. This is the same core algorithm as what is used in the official
rospyproject: https://github.com/ros/ros_comm/blob/noetic-devel/tools/rosbag/src/rosbag/bag.py#L2638-L2668Meanwhile, I also added
gdbto the Dockerfile to easier make use of the--compilation_mode dbgwhen performing abazel build.