Add CLI option to expose bagfile splitting

ros2bag/ros2bag/verb/record.py

@@ -46,8 +46,14 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
                  'startup will be recorded')
         parser.add_argument(
             '-p', '--polling-interval', type=int, default=100,
-            help='time in ms to wait between querying available topics for recording. It has no '
-                 'effect if --no-discovery is enabled.'
+            help='time in ms to wait between querying available topics for recording. '
+                  'It has no effect if --no-discovery is enabled.'
+        )
+        parser.add_argument(
+            '-b', '--max-bag-size', type=int, default=0,
+            help='maximum size in bytes before the bagfile will be split. '
+                  'Default it is zero, recording written in single bagfile and splitting '
+                  'is disabled.'
         )
         self._subparser = parser
 
@@ -83,7 +89,8 @@ def main(self, *, args):  # noqa: D102
                 node_prefix=NODE_NAME_PREFIX,
                 all=True,
                 no_discovery=args.no_discovery,
-                polling_interval=args.polling_interval)
+                polling_interval=args.polling_interval,
+                max_bagfile_size=args.max_bag_size)
         elif args.topics and len(args.topics) > 0:
             # NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
             #               combined with constrained environments (as imposed by colcon test)
@@ -99,6 +106,7 @@ def main(self, *, args):  # noqa: D102
                 node_prefix=NODE_NAME_PREFIX,
                 no_discovery=args.no_discovery,
                 polling_interval=args.polling_interval,
+                max_bagfile_size=args.max_bag_size,
                 topics=args.topics)
         else:
             self._subparser.print_help()

rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp

@@ -36,6 +36,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
     "all",
     "no_discovery",
     "polling_interval",
+    "max_bagfile_size",
     "topics",
     nullptr};
 
@@ -46,22 +47,25 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   bool all = false;
   bool no_discovery = false;
   uint64_t polling_interval_ms = 100;
+  unsigned long long max_bagfile_size = 0;  // NOLINT
   PyObject * topics = nullptr;
-  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "ssss|bbKO", const_cast<char **>(kwlist),
+  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "ssss|bbKKO", const_cast<char **>(kwlist),
     &uri,
     &storage_id,
     &serilization_format,
     &node_prefix,
     &all,
     &no_discovery,
     &polling_interval_ms,
+    &max_bagfile_size,
     &topics))
   {
     return nullptr;
   }
 
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
+  storage_options.max_bagfile_size = (uint64_t) max_bagfile_size;
   record_options.all = all;
   record_options.is_discovery_disabled = no_discovery;
   record_options.topic_polling_interval = std::chrono::milliseconds(polling_interval_ms);