open overload for simple uri string

Signed-off-by: Karsten Knese <[email protected]>

rosbag2_cpp/include/rosbag2_cpp/reader.hpp

@@ -57,6 +57,22 @@ class ROSBAG2_CPP_PUBLIC Reader final
 
   ~Reader();
 
+  /**
+   * Opens an existing bagfile and prepare it for reading messages.
+   * The bagfile must exist.
+   * This must be called before any other function is used.
+   *
+   * \note This will open URI with the default storage options
+   * * using sqlite3 storage backend
+   * * using no converter options, storing messages with the incoming serialization format
+   * \sa rmw_get_serialization_format.
+   * For specifications, please see \sa open, which let's you specify
+   * more storage and converter options.
+   *
+   * \param storage_uri URI of the storage to open.
+   **/
+  void open(const std::string & uri);
+
   /**
    * Throws if file could not be opened.
    * This must be called before any other function is used.

rosbag2_cpp/include/rosbag2_cpp/writer.hpp

@@ -56,6 +56,21 @@ class ROSBAG2_CPP_PUBLIC Writer final
 
   ~Writer();
 
+  /**
+   * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
+   * This must be called before any other function is used.
+   *
+   * \note This will open URI with the default storage options
+   * * using sqlite3 storage backend
+   * * using no converter options, storing messages with the incoming serialization format
+   * \sa rmw_get_serialization_format.
+   * For specifications, please see \sa open, which let's you specify
+   * more storage and converter options.
+   *
+   * \param storage_uri URI of the storage to open.
+   **/
+  void open(const std::string & uri);
+
   /**
    * Opens a new bagfile and prepare it for writing messages. The bagfile must not exist.
    * This must be called before any other function is used.

rosbag2_cpp/package.xml

@@ -20,6 +20,8 @@
   <depend>rosidl_typesupport_introspection_cpp</depend>
   <depend>shared_queues_vendor</depend>
 
+  <exec_depend>rosbag2_storage_default_plugins</exec_depend>
+
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rosbag2_cpp/src/rosbag2_cpp/reader.cpp

@@ -16,6 +16,7 @@
 #include "rosbag2_cpp/reader.hpp"
 
 #include <memory>
+#include <string>
 #include <utility>
 #include <vector>
 
@@ -34,6 +35,18 @@ Reader::~Reader()
   reader_impl_->reset();
 }
 
+void Reader::open(const std::string & uri)
+{
+  rosbag2_cpp::StorageOptions storage_options;
+  storage_options.uri = uri;
+  storage_options.storage_id = "sqlite3";
+  storage_options.max_bagfile_size = 0;  // default
+  storage_options.max_cache_size = 0;  // default
+
+  rosbag2_cpp::ConverterOptions converter_options{};
+  return open(storage_options, converter_options);
+}
+
 void Reader::open(
   const StorageOptions & storage_options,
   const ConverterOptions & converter_options)

rosbag2_cpp/src/rosbag2_cpp/writer.cpp

@@ -40,6 +40,18 @@ Writer::~Writer()
   writer_impl_.reset();
 }
 
+void Writer::open(const std::string & uri)
+{
+  rosbag2_cpp::StorageOptions storage_options;
+  storage_options.uri = uri;
+  storage_options.storage_id = "sqlite3";
+  storage_options.max_bagfile_size = 0;  // default
+  storage_options.max_cache_size = 0;  // default
+
+  rosbag2_cpp::ConverterOptions converter_options{};
+  return open(storage_options, converter_options);
+}
+
 void Writer::open(
   const StorageOptions & storage_options, const ConverterOptions & converter_options)
 {

rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_api.cpp

@@ -46,15 +46,9 @@ TEST(TestRosbag2CPPAPI, minimal_writer_example)
   // See https://github.com/ros2/rosbag2/issues/448
   rcpputils::fs::create_directories(rosbag_directory);
 
-  rosbag2_cpp::StorageOptions storage_options;
-  storage_options.uri = rosbag_directory.string();
-  storage_options.storage_id = "sqlite3";
-  storage_options.max_bagfile_size = 0;  // default
-  storage_options.max_cache_size = 0;  // default
-
   {
     rosbag2_cpp::Writer writer;
-    writer.open(storage_options);
+    writer.open(rosbag_directory.string());
 
     auto bag_message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
     auto ret = rcutils_system_time_now(&bag_message->time_stamp);
@@ -78,7 +72,7 @@ TEST(TestRosbag2CPPAPI, minimal_writer_example)
 
   {
     rosbag2_cpp::Reader reader;
-    reader.open(storage_options);
+    reader.open(rosbag_directory.string());
     while (reader.has_next()) {
       auto bag_message = reader.read_next();