Propagate "custom_data" and "ros_distro" in to the metadata.yaml file…

… during re-indexing (#1700)

* propagate custom data and ros_distro during reindexing
Signed-off-by: Cole Tucker

Signed-off-by: coalman321 <cjtucker321@gmail.com>

* fix ament uncrustify issue

Signed-off-by: coalman321 <cjtucker321@gmail.com>

* only update metadata if size is nonzero

Signed-off-by: coalman321 <cjtucker321@gmail.com>

* fix uncrustify issue and switch to empty

Signed-off-by: coalman321 <cjtucker321@gmail.com>

* update reindexer test to verify custom data and ros_distro changes

Signed-off-by: coalman321 <cjtucker321@gmail.com>

* Convert to use exact clock type for windows CI

Signed-off-by: coalman321 <cjtucker321@gmail.com>

---------

Signed-off-by: coalman321 <cjtucker321@gmail.com>

rosbag2_cpp/src/rosbag2_cpp/reindexer.cpp

@@ -162,6 +162,8 @@ void Reindexer::aggregate_metadata(
   const rosbag2_storage::StorageOptions & storage_options)
 {
   std::map<std::string, rosbag2_storage::TopicInformation> temp_topic_info;
+  std::chrono::time_point<std::chrono::high_resolution_clock> latest_log_start =
+    std::chrono::time_point<std::chrono::high_resolution_clock>::min();
 
   // In order to most accurately reconstruct the metadata, we need to
   // visit each of the contained relative files files in the bag,
@@ -188,6 +190,17 @@ void Reindexer::aggregate_metadata(
     auto temp_metadata = bag_reader->get_metadata();
     metadata_.storage_identifier = temp_metadata.storage_identifier;
 
+    // try to find the last log for the most complete custom data section
+    if (latest_log_start < temp_metadata.starting_time) {
+      latest_log_start = temp_metadata.starting_time;
+      if (!temp_metadata.custom_data.empty()) {
+        metadata_.custom_data = temp_metadata.custom_data;
+      }
+      if (!temp_metadata.ros_distro.empty()) {
+        metadata_.ros_distro = temp_metadata.ros_distro;
+      }
+    }
+
     if (temp_metadata.starting_time < metadata_.starting_time) {
       metadata_.starting_time = temp_metadata.starting_time;
     }

rosbag2_tests/test/rosbag2_tests/test_reindexer.cpp

@@ -81,6 +81,7 @@ class ReindexTestFixture : public ParametrizedTemporaryDirectoryFixture
       rosbag2_storage::StorageOptions storage_options;
       storage_options.storage_id = GetParam();
       storage_options.uri = root_bag_path_.string();
+      storage_options.custom_data["name"] = "value";
       writer.open(storage_options);
       rosbag2_storage::TopicMetadata topic;
       topic.name = "/test_topic";
@@ -132,6 +133,8 @@ TEST_P(ReindexTestFixture, test_multiple_files) {
 
   EXPECT_EQ(generated_metadata.storage_identifier, GetParam());
   EXPECT_EQ(generated_metadata.version, target_metadata.version);
+  EXPECT_EQ(generated_metadata.ros_distro, target_metadata.ros_distro);
+  EXPECT_EQ(generated_metadata.custom_data, target_metadata.custom_data);
 
   for (const auto & gen_rel_path : generated_metadata.relative_file_paths) {
     EXPECT_TRUE(