def main(self, *, args): # noqa: D102
if args.all and args.topics:
return 'Invalid choice: Can not specify topics and -a at the same time.'
uri = args.output if args.output else datetime.datetime.now().strftime(
"rosbag2_%Y_%m_%d-%H_%M_%S")
if os.path.isdir(uri):
return "Error: Output folder '{}' already exists.".format(uri)
self.create_bag_directory(uri)
if args.all:
rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
serialization_format=args.serialization_format,
all=True,
no_discovery=args.no_discovery,
polling_interval=args.polling_interval)
elif args.topics and len(args.topics) > 0:
rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
serialization_format=args.serialization_format,
no_discovery=args.no_discovery,
polling_interval=args.polling_interval,
topics=args.topics)
else:
self._subparser.print_help()
if os.path.isdir(uri) and not os.listdir(uri):
os.rmdir(uri)
def main(self, *, args): # noqa: D102
# both all and topics cannot be true
if args.all and args.topics:
return print_error(
'Invalid choice: Can not specify topics and -a at the same time.'
)
# both all and topics cannot be false
if not (args.all or (args.topics and len(args.topics) > 0)):
return print_error('Invalid choice: Must specify topic(s) or -a')
uri = args.output or datetime.datetime.now().strftime(
'rosbag2_%Y_%m_%d-%H_%M_%S')
if os.path.isdir(uri):
return print_error(
"Output folder '{}' already exists.".format(uri))
if args.compression_format and args.compression_mode == 'none':
return print_error(
'Invalid choice: Cannot specify compression format '
'without a compression mode.')
args.compression_mode = args.compression_mode.upper()
qos_profile_overrides = {} # Specify a valid default
if args.qos_profile_overrides_path:
qos_profile_dict = yaml.safe_load(args.qos_profile_overrides_path)
try:
qos_profile_overrides = convert_yaml_to_qos_profile(
qos_profile_dict)
except (InvalidQoSProfileException, ValueError) as e:
return print_error(str(e))
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
serialization_format=args.serialization_format,
node_prefix=NODE_NAME_PREFIX,
compression_mode=args.compression_mode,
compression_format=args.compression_format,
all=args.all,
no_discovery=args.no_discovery,
polling_interval=args.polling_interval,
max_bagfile_size=args.max_bag_size,
max_bagfile_duration=args.max_bag_duration,
max_cache_size=args.max_cache_size,
topics=args.topics,
include_hidden_topics=args.include_hidden_topics,
qos_profile_overrides=qos_profile_overrides)
if os.path.isdir(uri) and not os.listdir(uri):
os.rmdir(uri)
def main(self, *, args): # noqa: D102
if args.all and args.topics:
return 'Invalid choice: Can not specify topics and -a at the same time.'
uri = args.output or datetime.datetime.now().strftime('rosbag2_%Y_%m_%d-%H_%M_%S')
if os.path.isdir(uri):
return "[ERROR] [ros2bag]: Output folder '{}' already exists.".format(uri)
if args.compression_format and args.compression_mode == 'none':
return 'Invalid choice: Cannot specify compression format without a compression mode.'
args.compression_mode = args.compression_mode.upper()
self.create_bag_directory(uri)
if args.all:
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
serialization_format=args.serialization_format,
node_prefix=NODE_NAME_PREFIX,
compression_mode=args.compression_mode,
compression_format=args.compression_format,
all=True,
no_discovery=args.no_discovery,
polling_interval=args.polling_interval,
max_bagfile_size=args.max_bag_size)
elif args.topics and len(args.topics) > 0:
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
serialization_format=args.serialization_format,
node_prefix=NODE_NAME_PREFIX,
compression_mode=args.compression_mode,
compression_format=args.compression_format,
no_discovery=args.no_discovery,
polling_interval=args.polling_interval,
max_bagfile_size=args.max_bag_size,
topics=args.topics)
else:
self._subparser.print_help()
if os.path.isdir(uri) and not os.listdir(uri):
os.rmdir(uri)
