[foxy backport] Latest rosbag2 #625

emersonknapp · 2021-01-29T19:51:14Z

Proposal to fix #657

Backport the entire master branch to foxy. This is a proposal - not a final review, just to see what changes would be needed to be compatible.

Notes:

All commits on this PR are from master - the divergence for backport compatibility is contained in the last commit ("Minimal changes to build+test for Foxy") - I would link the commit, but whenever I update this branch, it changes.
Right now pybind11_vendor is not released in Foxy yet (dependency of rosbag2_py) pybind11_vendor: 2.2.6-1 in 'foxy/distribution.yaml' [bloom] ros/rosdistro#28221

jacobperron · 2021-02-02T21:57:50Z

Releasing pybind11_vendor for Foxy sounds fine to me. Note, we should also add it to the ros2.repos file for Foxy if we end up not ignoring rosbag2_py.

emersonknapp · 2021-02-02T22:09:06Z

Releasing pybind11_vendor for Foxy sounds fine to me. Note, we should also add it to the ros2.repos file for Foxy if we end up not ignoring rosbag2_py.

ros2/ros2#1088

Wasn't sure if we should create a foxy release branch, lmk what you think

emersonknapp

Leaving a comment on every changed line with exact justification

emersonknapp · 2021-02-03T00:39:24Z

.github/workflows/test.yml

@@ -29,7 +29,7 @@ jobs:
          sqlite3_vendor
          rosbag2_test_common
          rosbag2_tests
-        target-ros2-distro: rolling
+        target-ros2-distro: foxy


Allows action CI to run on the release branch correctly

emersonknapp · 2021-02-03T00:40:15Z

rosbag2/package.xml

@@ -14,7 +14,7 @@
  <exec_depend>rosbag2_compression</exec_depend>
  <exec_depend>rosbag2_converter_default_plugins</exec_depend>
  <exec_depend>rosbag2_cpp</exec_depend>
-  <exec_depend>rosbag2_py</exec_depend>
+  <!-- <exec_depend>rosbag2_py</exec_depend> -->


Depends on pybind11_vendor (has been bloomed into Foxy) ros2/ros2#1088

emersonknapp · 2021-02-03T00:41:33Z

rosbag2_compression/src/rosbag2_compression/sequential_compression_reader.cpp

@@ -67,7 +67,7 @@ void SequentialCompressionReader::preprocess_current_file()
     * Because we have no way to check whether the bag was written correctly,
     * check for the existence of the prefixed file as a fallback.
     */
-    const rcpputils::fs::path base{base_folder_};
+    rcpputils::fs::path base{base_folder_};


This should be allowed to be const, but that was fixed in ros2/rcpputils#119 which is API-changing and therefore has not been backported to Foxy

emersonknapp · 2021-02-03T00:42:04Z

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

@@ -110,6 +110,7 @@ void SequentialWriter::open(
  }

  bool dir_created = rcpputils::fs::create_directories(db_path);
+  dir_created &= db_path.is_directory();


This stands in for https://github.com/ros2/rcpputils/pull/98/files (maybe it should be backported to Foxy?)

emersonknapp · 2021-02-03T00:43:21Z

rosbag2_transport/CMakeLists.txt

@@ -166,7 +166,7 @@ function(create_tests_for_rmw_implementation)
  rosbag2_transport_add_gmock(test_record_regex
    test/rosbag2_transport/test_record_regex.cpp
    LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common
+    AMENT_DEPS test_msgs rosbag2_cpp rosbag2_test_common


Allows this to be correctly built against the local workspace, when rosbag2_cpp is binary installed in the environment. This could correctly be an independent fix to master.

emersonknapp · 2021-02-03T00:46:57Z

rosbag2_storage/src/rosbag2_storage/metadata_io.cpp

-      throw std::runtime_error(
-              std::string("Exception on calculating the size of directory :") + uri);
-    }
+    metadata.bag_size = rcutils_calculate_directory_size(uri.c_str(), allocator);


Adapts to API change from ros2/rcutils#306

emersonknapp · 2021-02-04T18:23:48Z

@j-rivero I am wondering if you have any ideas how we can get the ABI report for rosbag2. The problem right now is that zstd_vendor installs some incorrect headers, so these are already in the Foxy version that's being used as a baseline - is there any way to configure the ABI checker, or do we need to first backport and bloom the fix that removes the bad headers, so that Foxy can be used as a baseline? If we do go through those steps, is there any way to check ahead of time that this fixes all the problems?

ABI report: https://build.ros2.org/job/Fpr__rosbag2__ubuntu_focal_amd64/116/API_5fABI_20report/
Fix (in theory): #631

ros-discourse · 2021-02-12T18:31:23Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927/1

dejanpan · 2021-02-15T09:35:16Z

@emersonknapp thanks. In the Discourse post we mentioned the following:

Unfortunately, these performance improvements come with a price. And that price is a breaking ABI/API compatibility with the currently released Foxy version. The changes are affecting the public API in rosbag2_cpp, rosbag2_storage as well as the sqlite3 storage plugin

Is this commit really the only API/ABI that has changed between the master and the foxy 316d830 or is there more? If there is more, would it be possible to list those APIs/ABIs?

ros-discourse · 2021-02-15T09:55:50Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927/13

emersonknapp · 2021-02-15T18:47:31Z

Is this commit really the only API/ABI that has changed between the master and the foxy 316d830 or is there more? If there is more, would it be possible to list those APIs/ABIs?

You've misunderstood - that commit contains the changes necessary to make rosbag2:master build against the Foxy core. It indicates nothing about the API changes in rosbag2, instead it indicates API changes in the ROS 2 core from Foxy->latest that are used by rosbag2.

EDIT: It will be possible to list the changed APIs - listing the changed ABIs will be more difficult until we can make the reporting tool work - I have had no luck locally or on the buildfarm yet.

* export shared_queues_vendor Signed-off-by: Knese Karsten <[email protected]> * Revert "find rosbag2_cpp (tinyxml2) before rcl (#423)" This reverts commit 48fd15e. Signed-off-by: Emerson Knapp <[email protected]>

* First attempt at time splitting logic Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Give default value for max duration Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Added bagfile duration as a storage option Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Initialize duration off of storage optios Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Switch duration in StorageOptions to take int Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Add duration to command line interface Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Suppress lint warning Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Add missing K parameter to the parsing string Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Fix typo Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Switch duration measurement to seconds Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Get project to compile again Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Change logic to allow simultaneous split modes Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Clarifying help comments on splitting behavior Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Fix typo Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Properly split by time Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Initial implementation of duration split test Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Linting whitespace Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Move curly brace for lint Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Remove magic constant Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Finally found and fixed unit error Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Force starting_time to be a system_clock time_point Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Change another high_resolution clock instance Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Convert everything to steady_clock Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Convert everything to use high_resolution_clock Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]> * Switch Windows testing code to newer version Distro A, OPSEC #2893 Signed-off-by: Jacob Hassold <[email protected]>

* expect only 60 percent of messages to arrive Signed-off-by: Karsten Knese <[email protected]> * test for only one message Signed-off-by: Karsten Knese <[email protected]>

* minimal c++ API test Signed-off-by: Karsten Knese <[email protected]> * linters Signed-off-by: Karsten Knese <[email protected]>

* Add per-message ZSTD compression This implements the per-messages compression and decompression functions for the ZSTD compressor and also adds unit tests for them. Distro A, OPSEC #2893 Signed-off-by: P. J. Reed <[email protected]>

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

Signed-off-by: Dirk Thomas <[email protected]>

* reenable cppcheck Signed-off-by: Karsten Knese <[email protected]> * suppress unknown macro inline Signed-off-by: Karsten Knese <[email protected]>

* Use foxy testing apt repos to install linters for Actions Signed-off-by: Emerson Knapp <[email protected]>

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

* Consolidate ZSTD utility functions The zstd_compressor and zstd_decompressor implementations had a number of duplicated utility functions between them; this consolidates them into one file. Signed-off-by: P. J. Reed <[email protected]>

* added db directory creation to storage factory Signed-off-by: Marwan Taher <[email protected]> * moved db directory creation to rosbag2_cpp Signed-off-by: Marwan Taher <[email protected]> * rasing exception if dir already exists Signed-off-by: Marwan Taher <[email protected]> * removed dir creation from record.py, added dir creation to sequential_compression_writer and refactored dir creation in sequential_writer Signed-off-by: Marwan Taher <[email protected]> * fixed failing tests Signed-off-by: Marwan Taher <[email protected]> * fixing review comments Signed-off-by: Marwan Taher <[email protected]> * Apply suggestions from code review Co-authored-by: Karsten Knese <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

Signed-off-by: Barry Xu <[email protected]>

* Updating performance writer - utilizes --storage-config-file with two examples - message reading from metadata yaml file (ready for cache double-buffers PR 546) - removed performance-affecting outputs - supports bag splitting in benchmarking Signed-off-by: Adam Dabrowski <[email protected]> * typo fix Signed-off-by: Adam Dabrowski <[email protected]> * corrected compression so that it doesn't break the command line in case it is empty (the default) Signed-off-by: Adam Dabrowski <[email protected]> * address CI warns/fails on MacOS and Windows Signed-off-by: Adam Dabrowski <[email protected]>

1. play a specific known message type even if some unknown types exist. 2. add a warning message while a message type library not exist. Signed-off-by: Chen Lihui <[email protected]>

…bject (#593) Signed-off-by: Josh Langsfeld <[email protected]>

* Use optimized pragmas by default in sqlite storage. Added option to use former behavior Signed-off-by: Adam Dabrowski <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

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

* Change all 'fastrtps-unspecified' duration values in test resources to 0 for cross-implementation readability, pending a clarification of the rmw qos duration api Signed-off-by: Emerson Knapp <[email protected]>

…ge (#603) * Mutex-protected writes and topic creation/removal in sqlite_storage Signed-off-by: Adam Dabrowski <[email protected]>

…ing team (#614) Signed-off-by: Emerson Knapp <[email protected]>

* Regex and exclude options for recording topics - you can use -e or --regex option now to specify how topics are recorded - can use -x or --exclude to exclude topics from recording - regex is exclusive with -a and specifying topics (for simplicity) Signed-off-by: Adam Dabrowski <[email protected]>

…to find bagfiles in incorrectly-written metadata (#612) * Deduplicate sequentialcompressionreader business logic, add fallback to find bagfiles in incorrectly-written metadata Signed-off-by: Emerson Knapp <[email protected]>

* Refactoring of rosbag2 performance package: - renamed since now it no longer benchmarks writer only - generalized byte_producer so that it uses a callback instead of queue, so it can be reused in publisher scheme Signed-off-by: Adam Dabrowski <[email protected]> * Benchmark publishers based on yaml configuration - can specify multiple groups of publishers (see attached example yaml) - reuses byte producer Signed-off-by: Adam Dabrowski <[email protected]> * Applying configured QoS settings for publishers. Also included in yaml example. Signed-off-by: Adam Dabrowski <[email protected]> * linters Signed-off-by: Adam Dabrowski <[email protected]> * Towards common configuration - separating out common structures - utility class for common parameter parsing Signed-off-by: Adam Dabrowski <[email protected]> * Barebone launchfile for benchmarks. Signed-off-by: Piotr Jaroszek <[email protected]> * writer benchmark adapted to yaml file and publisher groups Signed-off-by: Adam Dabrowski <[email protected]> * refactored result writing and bag parameters Signed-off-by: Adam Dabrowski <[email protected]> * linters Signed-off-by: Adam Dabrowski <[email protected]> * Launchfile for benchmarks Signed-off-by: Piotr Jaroszek <[email protected]> * Change storage config file from non optimized to resilient Signed-off-by: Piotr Jaroszek <[email protected]> * Max bag size for benchmark launchfile. Launchfile refactor. Signed-off-by: Piotr Jaroszek <[email protected]> * Copy yaml configs after benchmark is finished. Signed-off-by: Piotr Jaroszek <[email protected]> * Benchmark results csv file extended Signed-off-by: Piotr Jaroszek <[email protected]> * added disclaimer about random data and compression Signed-off-by: Adam Dabrowski <[email protected]> * Report gen tool for benchmarks Signed-off-by: Piotr Jaroszek <[email protected]> * Benchmarks out dir name changed Signed-off-by: Piotr Jaroszek <[email protected]> * results writer node Signed-off-by: Adam Dabrowski <[email protected]> * documentation Signed-off-by: Adam Dabrowski <[email protected]> * Transport and transportless in launchfile Signed-off-by: Piotr Jaroszek <[email protected]> * Benchmark launchfile refactor Signed-off-by: Piotr Jaroszek <[email protected]> * Wait for rosbag listening in benchmark launchfile Signed-off-by: Piotr Jaroszek <[email protected]> * Uncrustify and some comments for benchmarking tools Signed-off-by: Piotr Jaroszek <[email protected]> * Added new producers config for benchmarks Signed-off-by: Piotr Jaroszek <[email protected]> * Missing parameters in transport benchmark Signed-off-by: Piotr Jaroszek <[email protected]> added comment in storage_optimized.yaml * Missing rosbag record parameters in transport benchmark Signed-off-by: Piotr Jaroszek <[email protected]> * Wait for subscriptions parameter in producers config Signed-off-by: Piotr Jaroszek <[email protected]> * moved utils code from header to source Signed-off-by: Adam Dabrowski <[email protected]> * changed compiler shortcut uint to unsigned int (should fix Windows build) Signed-off-by: Adam Dabrowski <[email protected]> Co-authored-by: Piotr Jaroszek <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>

* Synchronize compression shutdown correctly, avoiding occasional deadlock Signed-off-by: Emerson Knapp <[email protected]>

* Fix relative metadata path writing in compression by deduplicating business logic Signed-off-by: Emerson Knapp <[email protected]>

* Regex and exclude fix for rosbag recorder Signed-off-by: Piotr Jaroszek <[email protected]>

Several packages were failing to build from source when rosbag2_storage was installed from a binary package because the path to the binary install was being added to CMake's include path before the workspace path. This tweaks the dependencies and include orders to ensure the source workspace path is preferred. Fixes #583 Distro A, OPSEC #4584 Signed-off-by: P. J. Reed <[email protected]>

* Implement streaming compression/decompression Distro A, OPSEC #4584 Signed-off-by: P. J. Reed <[email protected]>

Make compressor implementation into a plugin via pluginlib Signed-off-by: Emerson Knapp <[email protected]>

* Update CHANGELOG * 0.6.0 Signed-off-by: Emerson Knapp <[email protected]>

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

JWhitleyWork · 2021-03-11T22:33:15Z

Is there a next step for this MR?

JWhitleyWork · 2021-03-11T22:35:44Z

It looks like pybind11_vendor has been released for Foxy.

emersonknapp · 2021-03-11T22:44:23Z

Is there a next step for this MR?

Yes - we are considering releasing the rosbag2 as rosbag2-future into Foxy, instead of doing a breaking backport to the package. We're expecting to make the final decision in the Tooling WG meeting tomorrow.

emersonknapp · 2021-03-17T22:07:34Z

After deciding to go forward with the rosbag2-future approach instead of breaking the existing release, this PR is not needed.

Please see the Discourse post for more context

JWhitleyWork · 2021-03-17T22:09:53Z

Thank you!

emersonknapp requested review from Karsten1987 and mjeronimo January 29, 2021 19:55

emersonknapp force-pushed the emersonknapp/backport-latest-to-foxy branch 2 times, most recently from 08ee91a to 9bd1d6e Compare February 2, 2021 20:34

emersonknapp force-pushed the emersonknapp/backport-latest-to-foxy branch from f17351a to 316d830 Compare February 3, 2021 00:34

emersonknapp commented Feb 3, 2021

View reviewed changes

emersonknapp force-pushed the emersonknapp/backport-latest-to-foxy branch from 316d830 to e835d2e Compare February 3, 2021 01:00

This was referenced Feb 3, 2021

[backport foxy] Fix relative metadata paths in SequentialCompressionWriter (#613) #621

Closed

[backport foxy] Deduplicate SequentialCompressionReader business logic, add fallback to find bagfiles in incorrectly-written metadata #612 #617

Closed

jacobperron mentioned this pull request Feb 5, 2021

Rosbag2 py #638

Closed

emersonknapp mentioned this pull request Feb 16, 2021

Backport performance improvements to Foxy #657

Closed

7 tasks

Karsten1987 and others added 12 commits February 16, 2021 18:38

export shared_queues_vendor (#434)

5d34d61

* export shared_queues_vendor Signed-off-by: Knese Karsten <[email protected]> * Revert "find rosbag2_cpp (tinyxml2) before rcl (#423)" This reverts commit 48fd15e. Signed-off-by: Emerson Knapp <[email protected]>

More reliable topic remapping test (#456)

e2fce57

* expect only 60 percent of messages to arrive Signed-off-by: Karsten Knese <[email protected]> * test for only one message Signed-off-by: Karsten Knese <[email protected]>

minimal c++ API test (#451)

c67d8c3

* minimal c++ API test Signed-off-by: Karsten Knese <[email protected]> * linters Signed-off-by: Karsten Knese <[email protected]>

Add per-message ZSTD compression (#418)

1d39a5e

* Add per-message ZSTD compression This implements the per-messages compression and decompression functions for the ZSTD compressor and also adds unit tests for them. Distro A, OPSEC #2893 Signed-off-by: P. J. Reed <[email protected]>

comment out unused variable (#460)

fa3dc5a

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

use a single temp dir for the test class (#462)

8c49924

Signed-off-by: Dirk Thomas <[email protected]>

reenable cppcheck for rosbag2_transport (#461)

1e25d22

* reenable cppcheck Signed-off-by: Karsten Knese <[email protected]> * suppress unknown macro inline Signed-off-by: Karsten Knese <[email protected]>

Use foxy testing apt repos to install linters for Actions (#463)

b229399

* Use foxy testing apt repos to install linters for Actions Signed-off-by: Emerson Knapp <[email protected]>

Reenable flake8 linter (#467)

33a3209

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

Consolidate ZSTD utility functions (#459)

15c41a7

* Consolidate ZSTD utility functions The zstd_compressor and zstd_decompressor implementations had a number of duplicated utility functions between them; this consolidates them into one file. Signed-off-by: P. J. Reed <[email protected]>

Barry-Xu-2018 and others added 22 commits February 16, 2021 18:38

Fix a bug on parsing wrong description in plugin xml file (#578)

41afa0e

Signed-off-by: Barry Xu <[email protected]>

Fixed playing if unknown message types exist (#592)

1549af4

1. play a specific known message type even if some unknown types exist. 2. add a warning message while a message type library not exist. Signed-off-by: Chen Lihui <[email protected]>

Use std::filesystem compliant non-member exists function for path o…

84472f3

…bject (#593) Signed-off-by: Josh Langsfeld <[email protected]>

SQLite storage optimized by default (#568)

216e40f

* Use optimized pragmas by default in sqlite storage. Added option to use former behavior Signed-off-by: Adam Dabrowski <[email protected]>

include what you use (#600)

b7da49e

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Add mjeronimo to codeowners to be auto-assigned in the review rotation (

3927519

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

Fix the tests on cyclonedds by translating qos duration values (#606)

b26a9a0

* Change all 'fastrtps-unspecified' duration values in test resources to 0 for cross-implementation readability, pending a clarification of the rmw qos duration api Signed-off-by: Emerson Knapp <[email protected]>

Mutex protection for db writing and stl collections in writer & stora…

1dfb13f

…ge (#603) * Mutex-protected writes and topic creation/removal in sqlite_storage Signed-off-by: Adam Dabrowski <[email protected]>

Remove mjeronimo from CODEOWNERS in favor of having him on the review…

87e68f0

…ing team (#614) Signed-off-by: Emerson Knapp <[email protected]>

Fix deadlock race condition on compression shutdown (#616)

067ad4b

* Synchronize compression shutdown correctly, avoiding occasional deadlock Signed-off-by: Emerson Knapp <[email protected]>

Fix relative metadata paths in SequentialCompressionWriter (#613)

320659a

* Fix relative metadata path writing in compression by deduplicating business logic Signed-off-by: Emerson Knapp <[email protected]>

Regex and exclude fix for rosbag recorder (#620)

2f5cbb7

* Regex and exclude fix for rosbag recorder Signed-off-by: Piotr Jaroszek <[email protected]>

Use ZSTD's streaming interface for [de]compressing files (#543)

ba35046

* Implement streaming compression/decompression Distro A, OPSEC #4584 Signed-off-by: P. J. Reed <[email protected]>

Make compressor implementations into a plugin via pluginlib (#624)

3ef615a

Make compressor implementation into a plugin via pluginlib Signed-off-by: Emerson Knapp <[email protected]>

Prepare bloom release 0.6.0 (#628)

2ab6da4

* Update CHANGELOG * 0.6.0 Signed-off-by: Emerson Knapp <[email protected]>

Fix the CHANGELOGs

6007920

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

Minimal changes to build+test for Foxy

e5c7951

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

emersonknapp force-pushed the emersonknapp/backport-latest-to-foxy branch from 7b52eda to e5c7951 Compare February 17, 2021 02:38

emersonknapp closed this Mar 17, 2021

emersonknapp deleted the emersonknapp/backport-latest-to-foxy branch March 25, 2021 06:32

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[foxy backport] Latest rosbag2 #625

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[foxy backport] Latest rosbag2 #625

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