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Hi and thanks for your efforts developping MCAP. Example .mcap.yaml : .mcap.yamlnoChunkCRC: false noChunking: false chunkSize: 4194304 compressionFormat: "zstd" profile: "ros2" noRepeatedSchemas: false noMessageIndex: false noSummaryOffsets: false The config file is used with this command : Using config file: /home/maxime/.mcap.yaml Especially, the top command of the pprof cpu shows me that the same compression level is used even with different compression level settings. Also tried using a string after the --config flag to set parameters with different formatting with no success. Would there be a documentation or example config file that I missed ? |
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Replies: 2 comments
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I believe the CLI's Line 781 in 00eddd3 |
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One way to do this is with ros2 bag convert You can:
output_bags:
- uri: output_path # required
all_topics: true
storage_config_uri: "storage_config.yaml"
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I believe the CLI's
--config
provides you an alternate way to specify configuration for the specific command option. In the case ofcompress
that would allow you to set--chunk-size
and--compression
("zstd", "lz4", or "none") — but it doesn't provide access to all of the writer options. You could write your own code to do this — CPP you linked above; Go (options below); or one of the other libraries.mcap/go/mcap/writer.go
Line 781 in 00eddd3