Performance improvements in Rosbag2 recorder discovery

[Rayman]

• This PR improves the performance of the Rosbag2 recorder discovery by moving graph checks such as topic_is_unpublished(topic_name, *node_graph_)) and is_leaf_topic(topic_name, *node_graph_)), which are expensive to the end of the checklist.

• This PR is similar to the fix from 51a83f4421ff335c2237e6214e9bb7e6ae206a92 which was discussed in https://github.com/ros2/rosbag2/issues/1485. This gives a massive CPU improvement.

• In the screenshot below you can see the performance difference:

[MichaelOrlov]

@Rayman I would say that PR description "Reintroduce Don't warn for unknown types if topics are not selected" and reference to the

Reintroduce the fix from https://github.com/ros2/rosbag2/commit/51a83f4421ff335c2237e6214e9bb7e6ae206a92

Is incorrect in this case. While both PRs improve performance in the discovery, they are completely different.

[fujitatomoya]

@MichaelOrlov @Rayman so this discovery improvement provided originally https://github.com/ros2/rosbag2/pull/1466, kinda rolled back because of https://github.com/ros2/rosbag2/pull/1480, right? just checking if i understand correctly.

CC: @Barry-Xu-2018

[Rayman]

Yes, I'm referencing the commit Move checks for single type and hidden topics to the bottom from that squashed PR 51a83f4421ff335c2237e6214e9bb7e6ae206a92. That commit got rolled back because of #1485. The node graph checks are quite expensive so I'd move them to the bottom.

[MichaelOrlov]

@Rayman To be clear in this PR you are not doing "Move checks for single type and hidden topics to the bottom" - therefore we can't say that this PR reintroducing changes from the https://github.com/ros2/rosbag2/commit/51a83f4421ff335c2237e6214e9bb7e6ae206a92

I've changed PR title and description accordingly.

[MichaelOrlov]

Pulls: ros2/rosbag2#1825 Gist: https://gist.githubusercontent.com/MichaelOrlov/bc40716811cdff501cae1551da0b955c/raw/5d6c90a2f967cc06fbc14d9efb7d1296caf4ed8c/ros2.repos BUILD args: --packages-above-and-dependencies rosbag2_transport TEST args: --packages-above rosbag2_transport ROS Distro: rolling Job: ci_launcher ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14653

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

https://github.com/Mergifyio backport jazzy

[mergify[bot]]

backport jazzy

✅ Backports have been created

* [#1827 Performance improvements in Rosbag2 recorder discovery (backport #1825)](https://github.com/ros2/rosbag2/pull/1827) has been created for branch `jazzy`