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Added option to change node name for the recorder from the Python API #1180

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merged 5 commits into from
Dec 10, 2022
Merged

Added option to change node name for the recorder from the Python API #1180

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c40e0ce
Added the option to change the node name for the recorder from the Py…
ricardo-manriquez Nov 24, 2022
0c87f64
Fixed whitespace problems
Nov 24, 2022
f26b4b5
Fixed uncrustify problems
Nov 24, 2022
c4b9081
Added the option to set node name parameter from CLI
Dec 4, 2022
26779b4
Update rosbag2_py/src/rosbag2_py/_transport.cpp
ricardo-manriquez Dec 7, 2022
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6 changes: 5 additions & 1 deletion ros2bag/ros2bag/verb/record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,10 @@ def add_arguments(self, parser, cli_name): # noqa: D102
'--use-sim-time', action='store_true', default=False,
help='Use simulation time.'
)
parser.add_argument(
'--node-name', type=str, default='rosbag2_recorder',
help='Specify the recorder node name. Default is rosbag2_recorder.'
)
self._subparser = parser

def main(self, *, args): # noqa: D102
Expand Down Expand Up @@ -259,7 +263,7 @@ def main(self, *, args): # noqa: D102
recorder = Recorder()

try:
recorder.record(storage_options, record_options)
recorder.record(storage_options, record_options, args.node_name)
except KeyboardInterrupt:
pass

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9 changes: 6 additions & 3 deletions rosbag2_py/src/rosbag2_py/_transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,15 +210,16 @@ class Recorder

void record(
const rosbag2_storage::StorageOptions & storage_options,
RecordOptions & record_options)
RecordOptions & record_options,
std::string & node_name)
{
if (record_options.rmw_serialization_format.empty()) {
record_options.rmw_serialization_format = std::string(rmw_get_serialization_format());
}

auto writer = rosbag2_transport::ReaderWriterFactory::make_writer(record_options);
auto recorder = std::make_shared<rosbag2_transport::Recorder>(
std::move(writer), storage_options, record_options);
std::move(writer), storage_options, record_options, node_name);
recorder->record();

exec_->add_node(recorder);
Expand Down Expand Up @@ -356,7 +357,9 @@ PYBIND11_MODULE(_transport, m) {

py::class_<rosbag2_py::Recorder>(m, "Recorder")
.def(py::init())
.def("record", &rosbag2_py::Recorder::record)
.def(
"record", &rosbag2_py::Recorder::record, py::arg("storage_options"), py::arg("record_options"),
py::arg("node_name") = "rosbag2_recorder")
.def("cancel", &rosbag2_py::Recorder::cancel)
;

Expand Down