Fixes for tests in service recording

ros2bag/ros2bag/verb/info.py

@@ -47,14 +47,14 @@ def _is_service_event_topic(self, topic_name, topic_type) -> bool:
         return True
 
     def main(self, *, args):  # noqa: D102
-        m = Info().read_metadata(args.bag_path, args.storage)
-        if args.topic_name:
-            for topic_info in m.topics_with_message_count:
-                if not self._is_service_event_topic(topic_info.topic_metadata.name,
-                                                    topic_info.topic_metadata.type):
-                    print(topic_info.topic_metadata.name)
+        if args.verbose:
+            Info().read_metadata_and_output_service_verbose(args.bag_path, args.storage)
         else:
-            if args.verbose:
-                Info().read_metadata_and_output_service_verbose(args.bag_path, args.storage)
+            m = Info().read_metadata(args.bag_path, args.storage)
+            if args.topic_name:
+                for topic_info in m.topics_with_message_count:
+                    if not self._is_service_event_topic(topic_info.topic_metadata.name,
+                                                        topic_info.topic_metadata.type):
+                        print(topic_info.topic_metadata.name)
             else:
                 print(m)

rosbag2_test_common/include/rosbag2_test_common/client_manager.hpp

@@ -89,7 +89,17 @@ class ClientManager : public rclcpp::Node
     return true;
   }
 
-  bool send_request()
+  bool wait_for_srvice_to_be_ready(std::chrono::duration<double> timeout = std::chrono::seconds(5))
+  {
+    using clock = std::chrono::system_clock;
+    auto start = clock::now();
+    while (!check_service_ready() && (clock::now() - start) < timeout) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(25));
+    }
+    return check_service_ready();
+  }
+
+  bool send_request(std::chrono::duration<double> timeout = std::chrono::seconds(5))
   {
     if (!check_service_ready()) {
       return false;
@@ -100,7 +110,7 @@ class ClientManager : public rclcpp::Node
       auto result = client->async_send_request(request);
       // Wait for the result.
       if (rclcpp::executors::spin_node_until_future_complete(
-          exec_, get_node_base_interface(), result) != rclcpp::FutureReturnCode::SUCCESS)
+          exec_, get_node_base_interface(), result, timeout) != rclcpp::FutureReturnCode::SUCCESS)
       {
         RCLCPP_INFO(
           rclcpp::get_logger("service_client_manager"), "Failed to get response !");

rosbag2_test_common/include/rosbag2_test_common/wait_for.hpp

@@ -51,6 +51,23 @@ bool wait_until_shutdown(Timeout timeout, Condition condition)
   rclcpp::shutdown();
   return true;
 }
+
+template<typename Condition>
+bool wait_until_condition(
+  Condition condition,
+  std::chrono::duration<double> timeout = std::chrono::seconds(5))
+{
+  using clock = std::chrono::system_clock;
+  auto start = clock::now();
+  while (!condition()) {
+    if ((clock::now() - start) > timeout) {
+      return false;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+  return true;
+}
+
 }  // namespace rosbag2_test_common
 
 #endif  // ROSBAG2_TEST_COMMON__WAIT_FOR_HPP_

rosbag2_tests/CMakeLists.txt

@@ -121,14 +121,15 @@ if(BUILD_TESTING)
     )
   endif()
 
-  ament_add_gmock(test_rosbag2_info_get_service_info
-    test/rosbag2_tests/test_rosbag2_info_get_service_info.cpp
+  ament_add_gmock(test_rosbag2_cpp_get_service_info
+    test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-  if(TARGET test_rosbag2_info_get_service_info)
-    target_link_libraries(test_rosbag2_info_get_service_info
+  if(TARGET test_rosbag2_cpp_get_service_info)
+    target_link_libraries(test_rosbag2_cpp_get_service_info
       rosbag2_cpp::rosbag2_cpp
       rosbag2_storage::rosbag2_storage
       rosbag2_test_common::rosbag2_test_common
+      rosbag2_transport::rosbag2_transport
       ${test_msgs_TARGETS}
     )
   endif()

rosbag2_tests/package.xml

@@ -28,6 +28,7 @@
   <test_depend>rosbag2_storage_default_plugins</test_depend>
   <test_depend>rosbag2_storage</test_depend>
   <test_depend>rosbag2_test_common</test_depend>
+  <test_depend>rosbag2_transport</test_depend>
   <test_depend>std_msgs</test_depend>
   <test_depend>test_msgs</test_depend>
 

rosbag2_tests/resources/mcap/bag_with_topics_and_service_events/metadata.yaml

@@ -0,0 +1,57 @@
+rosbag2_bagfile_information:
+  version: 8
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 70653944
+  starting_time:
+    nanoseconds_since_epoch: 1699345836270074454
+  message_count: 10
+  topics_with_message_count:
+    - topic_metadata:
+        name: /events/write_split
+        type: rosbag2_interfaces/msg/WriteSplitEvent
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5ef58f7106a5cff8f5a794028c18117ee21015850ddcc567df449f41932960f8
+      message_count: 0
+    - topic_metadata:
+        name: /test_service1/_service_event
+        type: test_msgs/srv/BasicTypes_Event
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5b9988a4805a06ae22dff12903a774ccda710e9514926b826ffc884e3a9a982e
+      message_count: 4
+    - topic_metadata:
+        name: /test_service2/_service_event
+        type: test_msgs/srv/BasicTypes_Event
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5b9988a4805a06ae22dff12903a774ccda710e9514926b826ffc884e3a9a982e
+      message_count: 4
+    - topic_metadata:
+        name: /test_topic1
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_eee55533636293ac7c94c62432eedb5777eb849847d2a17b4dcead8c4a20ab32
+      message_count: 1
+    - topic_metadata:
+        name: /test_topic2
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_eee55533636293ac7c94c62432eedb5777eb849847d2a17b4dcead8c4a20ab32
+      message_count: 1
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - bag_with_topics_and_service_events.mcap
+  files:
+    - path: bag_with_topics_and_service_events.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1699345836270074454
+      duration:
+        nanoseconds: 70653944
+      message_count: 10
+  custom_data: ~
+  ros_distro: ""

rosbag2_tests/resources/sqlite3/bag_with_topics_and_service_events/metadata.yaml

@@ -0,0 +1,57 @@
+rosbag2_bagfile_information:
+  version: 8
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 70633730
+  starting_time:
+    nanoseconds_since_epoch: 1699345836023194036
+  message_count: 10
+  topics_with_message_count:
+    - topic_metadata:
+        name: /events/write_split
+        type: rosbag2_interfaces/msg/WriteSplitEvent
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5ef58f7106a5cff8f5a794028c18117ee21015850ddcc567df449f41932960f8
+      message_count: 0
+    - topic_metadata:
+        name: /test_service1/_service_event
+        type: test_msgs/srv/BasicTypes_Event
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5b9988a4805a06ae22dff12903a774ccda710e9514926b826ffc884e3a9a982e
+      message_count: 4
+    - topic_metadata:
+        name: /test_service2/_service_event
+        type: test_msgs/srv/BasicTypes_Event
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_5b9988a4805a06ae22dff12903a774ccda710e9514926b826ffc884e3a9a982e
+      message_count: 4
+    - topic_metadata:
+        name: /test_topic1
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_eee55533636293ac7c94c62432eedb5777eb849847d2a17b4dcead8c4a20ab32
+      message_count: 1
+    - topic_metadata:
+        name: /test_topic2
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+        type_description_hash: RIHS01_eee55533636293ac7c94c62432eedb5777eb849847d2a17b4dcead8c4a20ab32
+      message_count: 1
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - bag_with_topics_and_service_events.db3
+  files:
+    - path: bag_with_topics_and_service_events.db3
+      starting_time:
+        nanoseconds_since_epoch: 1699345836023194036
+      duration:
+        nanoseconds: 70633730
+      message_count: 10
+  custom_data: ~
+  ros_distro: ""