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Override QoS Profiles in CLI - Playback #356

Merged
merged 4 commits into from
Apr 13, 2020
Merged

Override QoS Profiles in CLI - Playback #356

merged 4 commits into from
Apr 13, 2020

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piraka9011
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@piraka9011 piraka9011 commented Apr 7, 2020 •
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  • Add a --qos-profile-overrides-path to the play verb.

Should go after #358

Part of #125
Related to ros-tooling/aws-roadmap#218

Signed-off-by: Anas Abou Allaban [email protected]

@piraka9011 piraka9011 force-pushed the allabana/override-qos-pb-cli branch from 8cdcc30 to d5b1deb Compare April 8, 2020 19:22
@Karsten1987 Karsten1987 mentioned this pull request Apr 8, 2020
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@piraka9011 piraka9011 force-pushed the allabana/override-qos-pb-cli branch 3 times, most recently from 21d08e4 to 2b6d924 Compare April 10, 2020 13:04
@piraka9011 piraka9011 changed the title WIP: Override QoS Profiles in CLI - Playback Override QoS Profiles in CLI - Playback Apr 10, 2020
@piraka9011 piraka9011 marked this pull request as ready for review April 10, 2020 13:05
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There's a Cyclone DDS failure in the CI

   8: 1586535200.199535 [0] test_recor: using network interface eth0 (udp/10.1.0.4) selected arbitrarily from: eth0, docker0
  8: [INFO] [1586535200.212596225] [rosbag2_transport]: Listening for topics...
  8: [INFO] [1586535200.218610361] [rosbag2_transport]: Subscribed to topic '/mixed_nondelivery_policies'
  8: 
  8: >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
  8: This error state is being overwritten:
  8: 
  8:   'Security was requested but the Cyclone DDS being used does not have security support enabled. Recompile Cyclone DDS with the '-DENABLE_SECURITY=ON' CMake option, at /home/runner/work/rosbag2/rosbag2/ros_ws/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/rmw_node.cpp:834'
  8: 
  8: with this new error message:
  8: 
  8:   'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /home/runner/work/rosbag2/rosbag2/ros_ws/src/ros2/rcl/rcl/src/rcl/guard_condition.c:69'
  8: 
  8: rcutils_reset_error() should be called after error handling to avoid this.
  8: <<<
  8: [ERROR] [1586535200.220040669] [rosbag2_transport]: Failed to record: Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /home/runner/work/rosbag2/rosbag2/ros_ws/src/ros2/rcl/rcl/src/rcl/guard_condition.c:69

Seems to come from downstream. Might need to compile with the flag as specified in the warning.

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@ros2/aws-oncall - please run this CI job
Gist: https://gist.githubusercontent.com/piraka9011/42ee6b2990c30503b44a3b8e9de2289b/raw/b8b685264d8466997d888639c19467b9f4119adb/ros2.repos
BUILD args: --packages-up-to ros2bag
TEST args: --packages-select ros2bag
Job: ci_launcher

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New run with flake8 fix

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zmichaels11
zmichaels11 reviewed Apr 10, 2020
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ros2bag/test/resources/empty_bag/metadata.yaml Show resolved Hide resolved
ros2bag/test/resources/empty_bag/metadata.yaml Outdated Show resolved Hide resolved
ros2bag/test/test_play_qos_profiles.py Show resolved Hide resolved
rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp Outdated Show resolved Hide resolved
rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp Outdated Show resolved Hide resolved
rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
topic_qos_overrides.insert(std::pair<std::string, rclcpp::QoS>(topic_name, qos_profile));
}
} else {
throw std::runtime_error{"QoS profile overrides object is not a Python dictionary."};
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This if-else block could have been written as:

rcpputils::require_true(PyDict_Check(object), "QoS profile overrides object must be a Python dictionary.");

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I'd need to add rcpputils as a dependency to this package. I'd prefer to f/u that up in a refactor PR.

rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp Outdated Show resolved Hide resolved
emersonknapp
emersonknapp approved these changes Apr 11, 2020
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This LGTM on addressing Zach's comments and green CI

@piraka9011
Improve tests for utilities
082d3a6 
Signed-off-by: Anas Abou Allaban <[email protected]>
@piraka9011
Add overrides to play verb
431a952 
Signed-off-by: Anas Abou Allaban <[email protected]>
@piraka9011
Flake8
2a85412 
Signed-off-by: Anas Abou Allaban <[email protected]>
@piraka9011
Comments and brace-init
1407e5f 
Signed-off-by: Anas Abou Allaban <[email protected]>
@piraka9011 piraka9011 force-pushed the allabana/override-qos-pb-cli branch from febadb0 to 1407e5f Compare April 13, 2020 13:24
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@piraka9011 piraka9011 merged commit 7e35b10 into ros2:master Apr 13, 2020
@piraka9011 piraka9011 deleted the allabana/override-qos-pb-cli branch April 13, 2020 17:09
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@zmichaels11 zmichaels11 zmichaels11 left review comments

@emersonknapp emersonknapp emersonknapp approved these changes

@Karsten1987 Karsten1987 Awaiting requested review from Karsten1987

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@piraka9011 @emersonknapp @zmichaels11