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ros2 / rosbag2_bag_v2

rosbag2 plugin for replaying ros1 version2 bag files
Apache License 2.0
24 stars 4 forks source link

Implement changes in io interfaces #7

Closed zmichaels11 closed 4 years ago

zmichaels11 commented 4 years ago

Implemented changes in IO interfaces that were introduced in recent commits to rosbag2.

Dependent PRs

zmichaels11 commented 4 years ago

While the code generally LGTM, how could we cope with get_storage_identifier() and get_bagfile_size() being unimplemented here before? Are we in the process of expending the API?

Yeah, both functions were added into the API in anticipation of supporting bagfile splitting. I'll link the merged PR numbers related to these changes.

thomas-moulard commented 4 years ago

:+1: Thanks!

Karsten1987 commented 4 years ago

does it make sense to enhance this PR to comply with https://github.com/ros2/rosbag2/pull/184?

zmichaels11 commented 4 years ago

does it make sense to enhance this PR to comply with ros2/rosbag2#184?

Yes, unless you want to merge this commit first.

Karsten1987 commented 4 years ago

sounds good. Please go ahead and advance this PR with the changes needed and I we can run CI together on this.

jacobperron commented 4 years ago

FYI, I've tried to use the current state of this PR and get the following compilation error:

In file included from /home/jacob/ws/ros1_bridge_ws/install/class_loader/include/class_loader/class_loader_core.hpp:56:0,
                 from /home/jacob/ws/ros1_bridge_ws/install/class_loader/include/class_loader/class_loader.hpp:55,
                 from /home/jacob/ws/ros1_bridge_ws/install/class_loader/include/class_loader/multi_library_class_loader.hpp:52,
                 from /home/jacob/ws/ros1_bridge_ws/install/pluginlib/include/pluginlib/class_loader.hpp:58,
                 from /home/jacob/ws/rosbag2_bag_v2_ws/install/include/rosbag/bag.h:67,
                 from /home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.hpp:23,
                 from /home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp:15:
/home/jacob/ws/ros1_bridge_ws/install/class_loader/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = rosbag2_bag_v2_plugins::RosbagV2Storage; B = rosbag2_storage::storage_interfaces::ReadOnlyInterface]’:
/home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp:185:1:   required from here
/home/jacob/ws/ros1_bridge_ws/install/class_loader/include/class_loader/meta_object.hpp:193:12: error: invalid new-expression of abstract class type ‘rosbag2_bag_v2_plugins::RosbagV2Storage’
     return new C;
            ^~~~~
In file included from /home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp:15:0:
/home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.hpp:29:7: note:   because the following virtual functions are pure within ‘rosbag2_bag_v2_plugins::RosbagV2Storage’:
 class RosbagV2Storage : public rosbag2_storage::storage_interfaces::ReadOnlyInterface
       ^~~~~~~~~~~~~~~
In file included from /home/jacob/ws/ros1_bridge_ws/install/rosbag2_storage/include/rosbag2_storage/storage_interfaces/read_only_interface.hpp:20:0,
                 from /home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.hpp:22,
                 from /home/jacob/ws/rosbag2_bag_v2_ws/src/rosbag2_bag_v2/rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp:15:
/home/jacob/ws/ros1_bridge_ws/install/rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_info_interface.hpp:41:23: note:   virtual std::__cxx11::string rosbag2_storage::storage_interfaces::BaseInfoInterface::get_relative_path() const
   virtual std::string get_relative_path() const = 0;
                       ^~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/rosbag2_bag_v2_plugins.dir/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/rosbag2_bag_v2_plugins.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
zmichaels11 commented 4 years ago

@jacobperron just resolved that issue; it was due to recent API changes introduced in ros2/rosbag2#184.

@Karsten1987 This PR is ready

jacobperron commented 4 years ago

@zmichaels11 Yep, thanks. I'm able to compile now.

zmichaels11 commented 4 years ago

@Karsten1987 is there anything blocking this PR from merging?