search

ros2 / rosbag2

Apache License 2.0
278 stars 248 forks source link

rosbag2_storage_mcap message definition cache cannot find `.msg` definitions outside `msg` dir #1188

Open james-rms opened 1 year ago

james-rms commented 1 year ago

Description

Copying over the description from https://github.com/ros-tooling/rosbag2_storage_mcap/pull/77 :

We were trying to use mcap on a large ROS2 project and ran into an issue where .msg files were not being found in the install/<package_name>/share/<package_name>/msg/*.msg path. We got errors like below and the produced mcap files were empty.

[node-2] [WARN] [1668788082.046164202] [rosbag2_storage_mcap]: no .msg definition for AAA/BBB.msg, falling back to IDL

On closer look we saw that our package is structured to create .msg files in paths like install/<package_name>/share/<package_name>/<sub_directory_name>/*.msg. This is purely for organizational purposes and ROS2 doesn't have issue in finding these. So this PR modifies the MCAP plugin code to look for .msg files in any sub-directory within install/<package_name>/share/<package_name>/. It resolves our problem

Expected Behavior

The MCAP storage plugin finds MSG definitions in any directory that the rest of ROS2 build infrastructure deems acceptable.

Actual Behavior

the MCAP storage plugin fails to find MSG definitions outside of an msg package subdirectory.

To Reproduce

** Steps to reproduce the behavior, e.g.

  1. Go to '...'
  2. Click on '....'
  3. Scroll down to '....'
  4. Logs print error '...' **

System (please complete the following information)

Additional context

Add any other context about the problem here

jhurliman commented 1 year ago

This should fix the issue, just needs to be ported to this repo: https://github.com/foxglove/ros-foxglove-bridge/pull/95

aditya2592 commented 1 year ago

@jhurliman Thanks for making the changes in foxglove-bridge, I copied over and tested the changes to this repo here. Would be great if you could have a look whenever possible!