Make rosbag2 nodes unique by suffixing with PID like ros2cli does

Signed-off-by: Emerson Knapp <[email protected]>

ros2bag/ros2bag/api/__init__.py

@@ -148,6 +148,14 @@ def add_standard_reader_args(parser: ArgumentParser) -> None:
              'By default attempts to detect automatically - use this argument to override.')
 
 
+def add_standard_node_args(parser: ArgumentParser, prefix: str) -> None:
+    """Add arguments for for verbs that create a Node."""
+    node_name = f'{prefix}_{os.getpid()}'
+    parser.add_argument(
+        '--node-name', type=str, default=node_name,
+        help=f'Specify the recorder node name. Default is {prefix}_PID.')
+
+
 def _parse_cli_storage_plugin():
     plugin_choices = set(rosbag2_py.get_registered_writers())
     default_storage = rosbag2_py.get_default_storage_id()

ros2bag/ros2bag/verb/burst.py

@@ -15,11 +15,14 @@
 from argparse import FileType
 
 from rclpy.qos import InvalidQoSProfileException
-from ros2bag.api import add_standard_reader_args
-from ros2bag.api import check_not_negative_int
-from ros2bag.api import check_positive_float
-from ros2bag.api import convert_yaml_to_qos_profile
-from ros2bag.api import print_error
+from ros2bag.api import (
+    add_standard_node_args,
+    add_standard_reader_args,
+    check_not_negative_int,
+    check_positive_float,
+    convert_yaml_to_qos_profile,
+    print_error,
+)
 from ros2bag.verb import VerbExtension
 from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_py import Player
@@ -33,7 +36,7 @@ class BurstVerb(VerbExtension):
 
     def add_arguments(self, parser, cli_name):  # noqa: D102
         add_standard_reader_args(parser)
-
+        add_standard_node_args(parser, 'rosbag2_player')
         parser.add_argument(
             '--read-ahead-queue-size', type=int, default=1000,
             help='size of message queue rosbag tries to hold in memory to help deterministic '
@@ -100,5 +103,5 @@ def main(self, *, args):  # noqa: D102
         play_options.start_offset = args.start_offset
         play_options.wait_acked_timeout = -1
 
-        player = Player()
+        player = Player(args.node_name)
         player.burst(storage_options, play_options, args.num_messages)

ros2bag/ros2bag/verb/play.py

@@ -15,11 +15,14 @@
 from argparse import FileType
 
 from rclpy.qos import InvalidQoSProfileException
-from ros2bag.api import add_standard_reader_args
-from ros2bag.api import check_not_negative_int
-from ros2bag.api import check_positive_float
-from ros2bag.api import convert_yaml_to_qos_profile
-from ros2bag.api import print_error
+from ros2bag.api import (
+    add_standard_node_args,
+    add_standard_reader_args,
+    check_not_negative_int,
+    check_positive_float,
+    convert_yaml_to_qos_profile,
+    print_error,
+)
 from ros2bag.verb import VerbExtension
 from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_py import Player
@@ -40,6 +43,7 @@ class PlayVerb(VerbExtension):
 
     def add_arguments(self, parser, cli_name):  # noqa: D102
         add_standard_reader_args(parser)
+        add_standard_node_args(parser, 'rosbag2_player')
         parser.add_argument(
             '--read-ahead-queue-size', type=int, default=1000,
             help='size of message queue rosbag tries to hold in memory to help deterministic '
@@ -202,7 +206,7 @@ def main(self, *, args):  # noqa: D102
         play_options.wait_acked_timeout = args.wait_for_all_acked
         play_options.disable_loan_message = args.disable_loan_message
 
-        player = Player()
+        player = Player(args.node_name)
         try:
             player.play(storage_options, play_options)
         except KeyboardInterrupt:

ros2bag/ros2bag/verb/record.py

@@ -17,10 +17,13 @@
 import os
 
 from rclpy.qos import InvalidQoSProfileException
-from ros2bag.api import add_writer_storage_plugin_extensions
-from ros2bag.api import convert_yaml_to_qos_profile
-from ros2bag.api import print_error
-from ros2bag.api import SplitLineFormatter
+from ros2bag.api import (
+    add_standard_node_args,
+    add_writer_storage_plugin_extensions,
+    convert_yaml_to_qos_profile,
+    print_error,
+    SplitLineFormatter,
+)
 from ros2bag.verb import VerbExtension
 from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_py import get_default_storage_id
@@ -101,6 +104,7 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             help='Path to a yaml file defining overrides of the QoS profile for specific topics.')
 
         # Core config
+        add_standard_node_args(parser, prefix='rosbag2_recorder')
         parser.add_argument(
             '-f', '--serialization-format', default='', choices=serialization_choices,
             help='The rmw serialization format in which the messages are saved, defaults to the '
@@ -131,9 +135,7 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '--use-sim-time', action='store_true', default=False,
             help='Use simulation time for message timestamps by subscribing to the /clock topic. '
                  'Until first /clock message is received, no messages will be written to bag.')
-        parser.add_argument(
-            '--node-name', type=str, default='rosbag2_recorder',
-            help='Specify the recorder node name. Default is %(default)s.')
+
         parser.add_argument(
             '--custom-data', type=str, metavar='KEY=VALUE', nargs='*',
             help='Store the custom data in metadata.yaml '

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -130,8 +130,9 @@ namespace rosbag2_py
 class Player
 {
 public:
-  Player()
+  explicit Player(const std::string & node_name)
   {
+    node_name_ = node_name;
     rclcpp::init(0, nullptr);
   }
 
@@ -146,7 +147,7 @@ class Player
   {
     auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
     auto player = std::make_shared<rosbag2_transport::Player>(
-      std::move(reader), storage_options, play_options);
+      std::move(reader), storage_options, play_options, node_name_);
 
     rclcpp::executors::SingleThreadedExecutor exec;
     exec.add_node(player);
@@ -167,7 +168,7 @@ class Player
   {
     auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
     auto player = std::make_shared<rosbag2_transport::Player>(
-      std::move(reader), storage_options, play_options);
+      std::move(reader), storage_options, play_options, node_name_);
 
     rclcpp::executors::SingleThreadedExecutor exec;
     exec.add_node(player);
@@ -185,6 +186,9 @@ class Player
     spin_thread.join();
     play_thread.join();
   }
+
+private:
+  std::string node_name_;
 };
 
 class Recorder
@@ -377,7 +381,7 @@ PYBIND11_MODULE(_transport, m) {
   ;
 
   py::class_<rosbag2_py::Player>(m, "Player")
-  .def(py::init())
+  .def(py::init<std::string>(), pybind11::arg("node_name"))
   .def("play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg("play_options"))
   .def("burst", &rosbag2_py::Player::burst)
   ;