Support multiple serialization formats (encodings) in a single bag #52
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This was referenced Nov 27, 2018
sriramster
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* Adapt new interface * Try to write and read rcutils_char_array_t BLOBs in sqlite * Add simple test for arbitrary char ptr * Refactor SqliteWrapper and add tests * Write and read actual timestamp from serialized message and add relative tests * Add SqliteStatementWrapper class and refactor SqliteStorage and SqliteWrapper * Refactor test fixture * ros2GH-50 Assert message content in write_integration_test, and remove TODOs * ros2GH-50 Remove sqlite_storage_plugin unit tests * ros2GH-50 Refactor SqliteStatements and SqliteStorage * ros2GH-50 Fix build after rebase * ros2GH-50 Make has_next() method no more const * ros2GH-52 Extend statement wrapper with a generic bind * ros2GH-50 Refactor after rebase * ros2GH-59 cleanup db interface - Remove virtual on methods as this was added only for unit tests. We decided to use only integration tests for the sqlite plugins. - Changes semantics of SqliteStatement: represents always a prepared statement if not null. - Ensures that a SqliteStatementWrapper cannot be copied and does not publicly expose its sqlite_stmt as this would cause memory corruption. * ros2GH-59 Introduce general read interface for sqlite statements - Uses a std::tuple for row data - Exposes an iterator interface for the query result * ros2GH-59 Cleanup: remove unused files * ros2GH-59 make sqlite interface fluent * ros2GH-59 move creation of serialized message to rosbag2_storage This is not storage plugin specific but will be needed by most (if not all) plugins. * Change rcutil_char_array_t to rmw_serialized_message_t in subscriber * Remove debugging output in test
sriramster
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* ros2GH-52 Extend db schema to include topic meta data - Two table db layout (messages and topics) - Messages table references topics table but without foreign key for improved write performance - Create_topic must be called for every topic prior to storing a message of this topic. - Sqlite_storage caches all known topics - At least for now the type information is stored as a simple string. * ros2GH-54 Make first rcl subscription prototype work * ros2GH-54 find type name from topic * ros2GH-54 Publish messages from database knowing only topic name and pass topic name by terminal * ros2GH-54 Refactoring of typesupport helpers * ros2GH-54 Use c++ typesupport * ros2GH-54 Use cpp typesupport and rclcpp::Node for publisher * ros2GH-54 Add raw subscription and use in rosbag_record * ros2GH-54 Add Rosbag2Node and Rosbag2Publisher classes and use them in Rosbag2::play * ros2GH-54 Rename Rosbag2Publisher to RawPublisher * ros2GH-54 Minor refactoring of Rosbag2Node * ros2GH-54 Extract and test waiting for topic into its own method * ros2GH-54 Fix read integration tests and linters * ros2GH-55 Refactor Rosbag2Node::create_raw_publisher() * ros2GH-54 Add subscription method to rosbag node * ros2GH-54 Keep subscription alive * ros2GH-54: Extract subscription to correct class * ros2GH-55 Change interface of raw_publisher to match subscriber * ros2GH-54 Add test for rosbag node * ros2GH-54 Unfriend rclcpp class * ros2GH-54 Make test more robust * ros2GH-54 Fix build * ros2GH-54 Minor cleanup and documentation * ros2GH-55 Minor refactoring + TODO comment * ros2GH-54 Change dynamic library folder on Windows * ros2GH-54 Fix build * ros2GH-54 Add shutdown to test * ros2GH-55 Add test helpers methods for usage in multiple tests * ros2GH-55 Add new method to read all topics and types in BaseReadInterface and use it in Rosbag2::play * ros2GH-55 Fix gcc and msvc * ros2GH-54 Rename raw to generic in publisher/subscriber * ros2GH-55 Check that topic and associated type in bag file are well defined before playing back messages * ros2GH-54 Prevent unnecessary error message loading storage * ros2GH-54 Fix memory leak * ros2GH-54 stabilize node test * ros2GH-55 Check if database exists when opening storage with READ_ONLY flag * ros2GH-54 Minor cleanup of subscriber * ros2GH-54 Wait a small amount of time to let node discover other nodes * Add logging to false case * ros2GH-54 Catch exceptions and exit cleanly * Use rmw_serialized_message_t and rcutils_char_array_t consistently * ros2GH-4 Refactoring for correctness - pass a few strings as const reference - throw error when no topics could be found * Improve error messages when loading plugins * alphabetical order * type_id -> type
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This is now supported in MCAP and the rosbag2_storage_mcap plugin. |
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It should be possible to have data with different serialization formats (encodings) in the same bag.
All messages for a given topic, however, must be encoded with the same serialization format.
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