Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

ros2 mcap record and playback #8

Open
lucasw opened this issue Jan 10, 2024 · 5 comments
Open

ros2 mcap record and playback #8

lucasw opened this issue Jan 10, 2024 · 5 comments

Comments

@lucasw
Copy link
Owner

lucasw commented Jan 10, 2024

No description provided.

@lucasw
Copy link
Owner Author

lucasw commented Jan 10, 2024 •
edited
Loading

can't find_package(mcap REQUIRED), the C++ library is header only son only need to get the include path in:

MAKEFLAGS="-j 4" colcon build --packages-select ros2_example_cpp --cmake-args -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include

@lucasw
Copy link
Owner Author

lucasw commented Jan 11, 2024

How to set qos profile for each topic? There is metadata in the mcap:

      for (const auto& it : reader.channels()) {
        const auto channel = it.second;
        const auto schema = reader.schema(channel->schemaId);
        std::cout << channel->topic << " " << channel->messageEncoding << " "
            << schema->id << " " << schema->name << " " << schema->encoding << "\n";
        // TODO(lucasw) 'reliability' is in here but not sure about the mapping
        for (const auto& m_it : channel->metadata) {
          std::cout << "  " << m_it.first << ": "<< m_it.second << "\n";
        }
...

/rosout cdr 1 rcl_interfaces/msg/Log ros2msg
  topic_type_hash: RIHS01_e28ce254ca8abc06abf92773b74602cdbf116ed34fbaf294fb9f81da9f318eac
  offered_qos_profiles: - history: 3
  depth: 0
  reliability: 1
  durability: 1
  deadline:
    sec: 9223372036
    nsec: 854775807
  lifespan:
    sec: 10
    nsec: 0
  liveliness: 1
  liveliness_lease_duration:
    sec: 9223372036
    nsec: 854775807
  avoid_ros_namespace_conventions: false
- history: 3
  depth: 0
  reliability: 1
  durability: 1
  deadline:
    sec: 9223372036
    nsec: 854775807
  lifespan:
    sec: 10
    nsec: 0
  liveliness: 1
  liveliness_lease_duration:
    sec: 9223372036
    nsec: 854775807
  avoid_ros_namespace_conventions: false
- history: 3
  depth: 0
  reliability: 1
  durability: 1
  deadline:
    sec: 9223372036
    nsec: 854775807
  lifespan:
    sec: 10
    nsec: 0
  liveliness: 1
  liveliness_lease_duration:
    sec: 9223372036
    nsec: 854775807
  avoid_ros_namespace_conventions: false
- history: 3
  depth: 0
  reliability: 1
  durability: 1
  deadline:
    sec: 9223372036
    nsec: 854775807
  lifespan:
    sec: 10
    nsec: 0
  liveliness: 1
  liveliness_lease_duration:
    sec: 9223372036
    nsec: 854775807
  avoid_ros_namespace_conventions: false
- history: 3
  depth: 0
  reliability: 1
  durability: 1
  deadline:
    sec: 9223372036
    nsec: 854775807
  lifespan:
    sec: 10
    nsec: 0
  liveliness: 1
  liveliness_lease_duration:
    sec: 9223372036
    nsec: 854775807
  avoid_ros_namespace_conventions: false

@lucasw
Copy link
Owner Author

lucasw commented Jan 11, 2024

(why didn't this question https://answers.ros.org/question/376520/what-is-best-practice-for-setting-a-qos-profile-in-a-rclcpp-publisher-or-subscriber/ make it to robotics stackexchange - did it get retitled or deleted?

@lucasw
Copy link
Owner Author

lucasw commented Jan 11, 2024 •
edited
Loading

when using my play_mcap

Type: geometry_msgs/msg/PolygonStamped

Publisher count: 1

Node name: play_mcap
Node namespace: /
Topic type: geometry_msgs/msg/PolygonStamped
Topic type hash: RIHS01_b7cf07932f1523d4b4088075945c1a0141f7cd21da87cc940fc61652e9138b46
Endpoint type: PUBLISHER
GID: 01.0f.15.f2.3f.a3.ca.c6.00.00.00.00.00.00.14.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 0

and it errors with:

ros2 topic echo /contour
A message was lost!!!
	total count change:3
	total count: 3---
A message was lost!!!
	total count change:2
	total count: 5---
ros2 topic echo /contour
A message was lost!!!
	total count change:3
	total count: 3---
A message was lost!!!
	total count change:2
	total count: 5---

when using ros2 bag play

Type: geometry_msgs/msg/PolygonStamped

Publisher count: 1

Node name: rosbag2_player
Node namespace: /
Topic type: geometry_msgs/msg/PolygonStamped
Topic type hash: RIHS01_b7cf07932f1523d4b4088075945c1a0141f7cd21da87cc940fc61652e9138b46
Endpoint type: PUBLISHER
GID: 01.0f.15.f2.57.a2.4c.91.00.00.00.00.00.00.14.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 0

ros2 topic echo /contour --raw
...
b'\x00\x01\x00\x00\xf9SFe\xca\xd9\x1e\x19\x04\x00\x00\x00map\x00d\x00\x00\x007\x89A?=\nW>\x00\x00\x00\x00\x9c\xc4@?\xac\x1cZ>\x00\x00\x00\x00\xf6(<?\xac\x1cZ>\x00\x00\x00\x00Zd;?\x1b/]>\x00\x00\x00\x00\x87\x169?\x1b/]>\x00\x00\x00\x00\xecQ8?\x89A`>\x00\x00\x00\x00P\x8d7?\x89A`>\x00\x00\x00\x00\xb4\xc86?\xf8Sc>\x00\x00\x00\x00\x19\x046?\xf8Sc>\x00\x00\x00\x00}?5?fff>\x00\x00\x00\x00\xe1z4?fff>\x00\x00\x00\x00\x0e-2?\xb2\x9do>\x00\x00\x00\x00sh1?\xb2\x9do>\x00\x00\x00\x00\xa0\x1a/?\xfe\xd4x>\x00\x00\x00\x00\xa0\x1a/?m\xe7{>\x00\x00\x00\x00\xcd\xcc,?\\\x8f\x82>\x00\x00\x00\x00\xcd\xcc,?\x93\x18\x84>\x00\x00\x00\x001\x08,?\xcb\xa1\x85>\x00\x00\x00\x001\x08,?\x02+\x87>\x00\x00\x00\x00\x96C+?9\xb4\x88>\x00\x00\x00\x00\x96C+?q=\x8a>\x00\x00\x00\x00\xfa~*?\xa8\xc6\x8b>\x00\x00\x00\x00\xfa~*?Nb\x90>\x00\x00\x00\x00^\xba)?\x85\xeb\x91>\x00\x00\x00\x00^\xba)?\xd1"\x9b>\x00\x00\x00\x00\xc3\xf5(?\x08\xac\x9c>\x00\x00\x00\x00^\xba)??5\x9e>\x00\x00\x00\x00^\xba)?\x8bl\xa7>\x00\x00\x00\x00\xfa~*?\xc3\xf5\xa8>\x00\x00\x00\x00\xfa~*?h\x91\xad>\x00\x00\x00\x00\x96C+?\xa0\x1a\xaf>\x00\x00\x00\x00\x96C+?\xd7\xa3\xb0>\x00\x00\x00\x001\x08,?\x0e-\xb2>\x00\x00\x00\x001\x08,?F\xb6\xb3>\x00\x00\x00\x00\xcd\xcc,?}?\xb5>\x00\x00\x00\x00\xcd\xcc,?\xb4\xc8\xb6>\x00\x00\x00\x00\xa0\x1a/?Zd\xbb>\x00\x00\x00\x00\xa0\x1a/?\x91\xed\xbc>\x00\x00\x00\x00sh1?7\x89\xc1>\x00\x00\x00\x00\x0e-2?7\x89\xc1>\x00\x00\x00\x00\xe1z4?\xdd$\xc6>\x00\x00\x00\x00}?5?\xdd$\xc6>\x00\x00\x00\x00\x19\x046?\x14\xae\xc7>\x00\x00\x00\x00\xb4\xc86?\x14\xae\xc7>\x00\x00\x00\x00P\x8d7?L7\xc9>\x00\x00\x00\x00\xecQ8?L7\xc9>\x00\x00\x00\x00\x87\x169?\x83\xc0\xca>\x00\x00\x00\x00Zd;?\x83\xc0\xca>\x00\x00\x00\x00\xf6(<?\xbaI\xcc>\x00\x00\x00\x00\x9c\xc4@?\xbaI\xcc>\x00\x00\x00\x007\x89A?\xf2\xd2\xcd>\x00\x00\x00\x00\xd3MB?\xbaI\xcc>\x00\x00\x00\x00y\xe9F?\xbaI\xcc>\x00\x00\x00\x00\x14\xaeG?\x83\xc0\xca>\x00\x00\x00\x00\xe7\xfbI?\x83\xc0\xca>\x00\x00\x00\x00\x83\xc0J?L7\xc9>\x00\x00\x00\x00\x1f\x85K?L7\xc9>\x00\x00\x00\x00\xbaIL?\x14\xae\xc7>\x00\x00\x00\x00V\x0eM?\x14\xae\xc7>\x00\x00\x00\x00\xf2\xd2M?\xdd$\xc6>\x00\x00\x00\x00\x8d\x97N?\xdd$\xc6>\x00\x00\x00\x00`\xe5P?7\x89\xc1>\x00\x00\x00\x00\xfc\xa9Q?7\x89\xc1>\x00\x00\x00\x00\xcf\xf7S?\x91\xed\xbc>\x00\x00\x00\x00\xcf\xf7S?Zd\xbb>\x00\x00\x00\x00\xa2EV?\xb4\xc8\xb6>\x00\x00\x00\x00\xa2EV?}?\xb5>\x00\x00\x00\x00=\nW?F\xb6\xb3>\x00\x00\x00\x00=\nW?\x0e-\xb2>\x00\x00\x00\x00\xd9\xceW?\xd7\xa3\xb0>\x00\x00\x00\x00\xd9\xceW?\xa0\x1a\xaf>\x00\x00\x00\x00u\x93X?h\x91\xad>\x00\x00\x00\x00u\x93X?\xc3\xf5\xa8>\x00\x00\x00\x00\x10XY?\x8bl\xa7>\x00\x00\x00\x00\x10XY??5\x9e>\x00\x00\x00\x00\xac\x1cZ?\x08\xac\x9c>\x00\x00\x00\x00\x10XY?\xd1"\x9b>\x00\x00\x00\x00\x10XY?\x85\xeb\x91>\x00\x00\x00\x00u\x93X?Nb\x90>\x00\x00\x00\x00u\x93X?\xa8\xc6\x8b>\x00\x00\x00\x00\xd9\xceW?q=\x8a>\x00\x00\x00\x00\xd9\xceW?9\xb4\x88>\x00\x00\x00\x00=\nW?\x02+\x87>\x00\x00\x00\x00=\nW?\xcb\xa1\x85>\x00\x00\x00\x00\xa2EV?\x93\x18\x84>\x00\x00\x00\x00\xa2EV?\\\x8f\x82>\x00\x00\x00\x00\xcf\xf7S?m\xe7{>\x00\x00\x00\x00\xcf\xf7S?\xfe\xd4x>\x00\x00\x00\x00\xfc\xa9Q?\xb2\x9do>\x00\x00\x00\x00`\xe5P?\xb2\x9do>\x00\x00\x00\x00\x8d\x97N?fff>\x00\x00\x00\x00\xf2\xd2M?fff>\x00\x00\x00\x00V\x0eM?\xf8Sc>\x00\x00\x00\x00\xbaIL?\xf8Sc>\x00\x00\x00\x00\x1f\x85K?\x89A`>\x00\x00\x00\x00\x83\xc0J?\x89A`>\x00\x00\x00\x00\xe7\xfbI?\x1b/]>\x00\x00\x00\x00\x14\xaeG?\x1b/]>\x00\x00\x00\x00y\xe9F?\xac\x1cZ>\x00\x00\x00\x00\xd3MB?\xac\x1cZ>\x00\x00\x00\x00'

@lucasw
Copy link
Owner Author

lucasw commented Jan 11, 2024 •
edited
Loading

Need to set the rcl buffer length:

rclcpp::SerializedMessage serialized_msg;
serialized_msg.reserve(msg_size);
auto& rcl_msg = serialized_msg.get_rcl_serialized_message();
// TODO(lucasw) is this copy avoidable?
std::memcpy(rcl_msg.buffer, msgView.message.data, msg_size);
rcl_msg.buffer_length = msg_size;

pub->publish(serialized_msg);

https://robotics.stackexchange.com/questions/107510/how-to-read-a-mcap-file-and-publish-message-using-cpp-and-ros2foxy

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@lucasw