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Make rosbag2 nodes locally unique by suffixing with PID #1432

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Make rosbag2 nodes locally unique by suffixing with PID #1432

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8 changes: 8 additions & 0 deletions ros2bag/ros2bag/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,6 +148,14 @@ def add_standard_reader_args(parser: ArgumentParser) -> None:
'By default attempts to detect automatically - use this argument to override.')


def add_standard_node_args(parser: ArgumentParser, prefix: str) -> None:
"""Add arguments for for verbs that create a Node."""
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Suggested change
"""Add arguments for for verbs that create a Node."""
"""Add arguments for verbs that create a Node."""

Nitpick, need to remove extra "for".

node_name = f'{prefix}_{os.getpid()}'
parser.add_argument(
'--node-name', type=str, default=node_name,
help=f'Specify the recorder node name. Default is {prefix}_PID.')


def _parse_cli_storage_plugin():
plugin_choices = set(rosbag2_py.get_registered_writers())
default_storage = rosbag2_py.get_default_storage_id()
Expand Down
17 changes: 10 additions & 7 deletions ros2bag/ros2bag/verb/burst.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,14 @@
from argparse import FileType

from rclpy.qos import InvalidQoSProfileException
from ros2bag.api import add_standard_reader_args
from ros2bag.api import check_not_negative_int
from ros2bag.api import check_positive_float
from ros2bag.api import convert_yaml_to_qos_profile
from ros2bag.api import print_error
from ros2bag.api import (
add_standard_node_args,
add_standard_reader_args,
check_not_negative_int,
check_positive_float,
convert_yaml_to_qos_profile,
print_error,
)
from ros2bag.verb import VerbExtension
from ros2cli.node import NODE_NAME_PREFIX
from rosbag2_py import Player
Expand All @@ -33,7 +36,7 @@ class BurstVerb(VerbExtension):

def add_arguments(self, parser, cli_name): # noqa: D102
add_standard_reader_args(parser)

add_standard_node_args(parser, 'rosbag2_player')
parser.add_argument(
'--read-ahead-queue-size', type=int, default=1000,
help='size of message queue rosbag tries to hold in memory to help deterministic '
Expand Down Expand Up @@ -100,5 +103,5 @@ def main(self, *, args): # noqa: D102
play_options.start_offset = args.start_offset
play_options.wait_acked_timeout = -1

player = Player()
player = Player(args.node_name)
player.burst(storage_options, play_options, args.num_messages)
16 changes: 10 additions & 6 deletions ros2bag/ros2bag/verb/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,14 @@
from argparse import FileType

from rclpy.qos import InvalidQoSProfileException
from ros2bag.api import add_standard_reader_args
from ros2bag.api import check_not_negative_int
from ros2bag.api import check_positive_float
from ros2bag.api import convert_yaml_to_qos_profile
from ros2bag.api import print_error
from ros2bag.api import (
add_standard_node_args,
add_standard_reader_args,
check_not_negative_int,
check_positive_float,
convert_yaml_to_qos_profile,
print_error,
)
from ros2bag.verb import VerbExtension
from ros2cli.node import NODE_NAME_PREFIX
from rosbag2_py import Player
Expand All @@ -40,6 +43,7 @@ class PlayVerb(VerbExtension):

def add_arguments(self, parser, cli_name): # noqa: D102
add_standard_reader_args(parser)
add_standard_node_args(parser, 'rosbag2_player')
parser.add_argument(
'--read-ahead-queue-size', type=int, default=1000,
help='size of message queue rosbag tries to hold in memory to help deterministic '
Expand Down Expand Up @@ -202,7 +206,7 @@ def main(self, *, args): # noqa: D102
play_options.wait_acked_timeout = args.wait_for_all_acked
play_options.disable_loan_message = args.disable_loan_message

player = Player()
player = Player(args.node_name)
try:
player.play(storage_options, play_options)
except KeyboardInterrupt:
Expand Down
16 changes: 9 additions & 7 deletions ros2bag/ros2bag/verb/record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,13 @@
import os

from rclpy.qos import InvalidQoSProfileException
from ros2bag.api import add_writer_storage_plugin_extensions
from ros2bag.api import convert_yaml_to_qos_profile
from ros2bag.api import print_error
from ros2bag.api import SplitLineFormatter
from ros2bag.api import (
add_standard_node_args,
add_writer_storage_plugin_extensions,
convert_yaml_to_qos_profile,
print_error,
SplitLineFormatter,
)
from ros2bag.verb import VerbExtension
from ros2cli.node import NODE_NAME_PREFIX
from rosbag2_py import get_default_storage_id
Expand Down Expand Up @@ -101,6 +104,7 @@ def add_arguments(self, parser, cli_name): # noqa: D102
help='Path to a yaml file defining overrides of the QoS profile for specific topics.')

# Core config
add_standard_node_args(parser, prefix='rosbag2_recorder')
parser.add_argument(
'-f', '--serialization-format', default='', choices=serialization_choices,
help='The rmw serialization format in which the messages are saved, defaults to the '
Expand Down Expand Up @@ -131,9 +135,7 @@ def add_arguments(self, parser, cli_name): # noqa: D102
'--use-sim-time', action='store_true', default=False,
help='Use simulation time for message timestamps by subscribing to the /clock topic. '
'Until first /clock message is received, no messages will be written to bag.')
parser.add_argument(
'--node-name', type=str, default='rosbag2_recorder',
help='Specify the recorder node name. Default is %(default)s.')

parser.add_argument(
'--custom-data', type=str, metavar='KEY=VALUE', nargs='*',
help='Store the custom data in metadata.yaml '
Expand Down
12 changes: 8 additions & 4 deletions rosbag2_py/src/rosbag2_py/_transport.cpp
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Expand Up @@ -130,8 +130,9 @@ namespace rosbag2_py
class Player
{
public:
Player()
explicit Player(const std::string & node_name)
{
node_name_ = node_name;
rclcpp::init(0, nullptr);
}

Expand All @@ -146,7 +147,7 @@ class Player
{
auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
auto player = std::make_shared<rosbag2_transport::Player>(
std::move(reader), storage_options, play_options);
std::move(reader), storage_options, play_options, node_name_);

rclcpp::executors::SingleThreadedExecutor exec;
exec.add_node(player);
Expand All @@ -167,7 +168,7 @@ class Player
{
auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
auto player = std::make_shared<rosbag2_transport::Player>(
std::move(reader), storage_options, play_options);
std::move(reader), storage_options, play_options, node_name_);

rclcpp::executors::SingleThreadedExecutor exec;
exec.add_node(player);
Expand All @@ -185,6 +186,9 @@ class Player
spin_thread.join();
play_thread.join();
}

private:
std::string node_name_;
};

class Recorder
Expand Down Expand Up @@ -377,7 +381,7 @@ PYBIND11_MODULE(_transport, m) {
;

py::class_<rosbag2_py::Player>(m, "Player")
.def(py::init())
.def(py::init<std::string>(), pybind11::arg("node_name"))
.def("play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg("play_options"))
.def("burst", &rosbag2_py::Player::burst)
;
Expand Down
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