Initializing the repeat_latched option

test/test_rosbag/test/latched_pub.py

@@ -32,16 +32,37 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import unittest
+import rosbag
+import roslaunch
 import rospy
 import rostest
+import os
 import sys
 from std_msgs.msg import *
 
+def generate_bags(topic, rosbag_args, player_name):
+    pub = rospy.Publisher(topic, String, latch=True)
+
+    pub.publish(String("hello"))
+
+    # Wait for some time before starting the bag recording
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    # Kick off a rosbag record
+    node = roslaunch.core.Node(package="rosbag", node_type="record", name=player_name, args=rosbag_args)
+    launch = roslaunch.scriptapi.ROSLaunch()
+    launch.start()
+    process = launch.launch(node)
+
+    # Give the record time to split
+    rospy.sleep(rospy.Duration.from_sec(6.0))
+
+    # Shut down the roslaunch instance to stop bagging
+    launch.stop()
+
 class LatchedPub(unittest.TestCase):
 
   def test_latched_pub(self):
-    rospy.init_node('latched_pub')
-
     # Wait a while before publishing
     rospy.sleep(rospy.Duration.from_sec(5.0))
 
@@ -50,7 +71,59 @@ def test_latched_pub(self):
     pub.publish(String("hello"))
 
     rospy.sleep(rospy.Duration.from_sec(5.0))
-
+
+  def test_latched_split(self):
+    # Check that the topic is in the first bag file only (we do not use --repeat-latched)
+    topic = "chatter2"
+    bag_prefix = "test_latched_pub_delayed_sub"
+    rosbag_args = "--split --duration=2s {} -O /tmp/{}".format(topic, bag_prefix)
+    generate_bags(topic, rosbag_args, "play_test_latched_split")
+
+    bag_count = 0
+
+    for file in os.listdir("/tmp/"):
+        if file.startswith(bag_prefix) and file.endswith(".bag"):
+            bag_file_name = os.path.join("/tmp", file)
+            bag_file = rosbag.Bag(bag_file_name, 'r')
+            bag_count += 1
+
+            messages_in_bag = 0
+
+            for _, msg, t in bag_file.read_messages(topics=[topic]):
+                self.assertEqual(1, bag_count)  # Should only enter this loop for the first bag file
+                self.assertEqual("hello", msg.data)
+                messages_in_bag += 1
+                self.assertEqual(1, messages_in_bag)  # We should only have one instance of this message
+
+    self.assertGreater(bag_count, 1)
+
+  def test_latched_repeat_split(self):
+    # Check that the topic is in *each* of the bag files
+    topic = "chatter3"
+    bag_prefix = "test_latched_pub_delayed_repeat_sub"
+    rosbag_args = "--split --repeat-latched --duration=2s {} -O /tmp/{}".format(topic, bag_prefix)
+    generate_bags(topic, rosbag_args, "play_test_latched_repeat_split")
+
+    bag_count = 0
+    previous_time = rospy.Time()
+
+    for file in os.listdir("/tmp/"):
+        if file.startswith(bag_prefix) and file.endswith(".bag"):
+            bag_file_name = os.path.join("/tmp", file)
+            bag_file = rosbag.Bag(bag_file_name, 'r')
+            bag_count += 1
+
+            messages_in_bag = 0
+
+            for _, msg, t in bag_file.read_messages(topics=[topic]):
+                self.assertNotEqual(previous_time, t)  # Timestamp gets updated when we re-record latched data
+                self.assertEqual("hello", msg.data)
+                messages_in_bag += 1
+                self.assertEqual(1, messages_in_bag)  # We should only have one instance of this message
+                previous_time = t
+
+    self.assertGreater(bag_count, 1)
 
 if __name__ == '__main__':
+  rospy.init_node('latched_pub')
   rostest.rosrun('test_rosbag', 'latched_pub', LatchedPub, sys.argv)

tools/rosbag/src/recorder.cpp

@@ -97,6 +97,7 @@ RecorderOptions::RecorderOptions() :
     snapshot(false),
     verbose(false),
     publish(false),
+    repeat_latched(false),
     compression(compression::Uncompressed),
     prefix(""),
     name(""),