add version 5 rosbag2 writer

.github/workflows/CI.yaml

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+name: Rosbag2-rs CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  run-all:
+    name: run all
+    runs-on: ubuntu-latest
+    needs:
+      - basics
+      - fmt
+      - clippy
+      - docs
+    steps:
+      - run: exit 0
+
+  # Basic actions that must pass before we kick off more expensive tests.
+  basics:
+    name: basic checks
+    runs-on: ubuntu-latest
+    needs:
+      - clippy
+      - fmt
+      - docs
+    steps:
+      - run: exit 0
+
+  clippy:
+    name: clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install Rust ${{ env.rust_clippy }}
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: ${{ env.rust_clippy }}
+          components: clippy
+      - uses: Swatinem/rust-cache@v2
+      - name: cargo fmt
+        run: cargo fmt
+      - name: "clippy --all"
+        run: cargo clippy --all --tests --all-features --no-deps
+
+  docs:
+    name: docs
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install Rust ${{ env.rust_nightly }}
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: ${{ env.rust_nightly }}
+      - uses: Swatinem/rust-cache@v2
+      - name: "doc --lib --all-features"
+        run: |
+          cargo doc --lib --no-deps --all-features --document-private-items
+
+  test-full:
+    needs: basics
+    name: all tests
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os:
+          - windows-latest
+          - ubuntu-latest
+          - macos-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install Rust ${{ env.rust_stable }}
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: ${{ env.rust_stable }}
+
+      - uses: Swatinem/rust-cache@v2
+
+      - name: test
+        run: |
+          set -euxo pipefail
+          cargo test

.gitignore

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+/target
+/Cargo.lock

.vscode/settings.json

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+{
+    "rust-analyzer.cargo.extraArgs": [
+        "--profile",
+        "rust-analyzer"
+    ]
+}

Cargo.toml

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+[package]
+name = "rosbag2-rs"
+version = "0.1.0"
+edition = "2021"
+description = "Rosbag2 writer and more..."
+authors = ["CT <ctian.huang@gmail.com>"]
+license = "MIT AND Apache-2.0"
+readme = "README.md"
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+rusqlite = "0.30.0"
+serde = { version = "1.0", features = ["derive"] }
+serde_yaml = "0.9.25"
+anyhow = "1.0.40"
+
+[dev-dependencies]
+tempfile = "3.8.1"
+
+[profile.rust-analyzer]
+inherits = "dev"

README.md

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+# Rosbag2 Rust
+
+## Introduction
+
+Rosbag2 Rust is a Rust crate designed to provide functionalities for handling ROS2 bag files. This crate aims to enable efficient reading, writing, and manipulation of ROS bag files, making it easier for developers working with ROS to manage and analyze their data.
+
+## Features
+
+### Current Features
+
+- [ ] Write ROS Bag Files (in progress)
+
+### Planned Features
+
+- Read ROS Bag Files
+- Advanced message manipulation tools
+- ...
+
+## Contributing
+
+We welcome contributions to Rosbags Rust! Whether it's reporting a bug, proposing a feature, or submitting a pull request, all contributions are appreciated.
+
+## License
+
+Rosbags Rust is open-source and is licensed under the MIT License.

docker/Dockerfile.no_ros

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+FROM ubuntu:latest
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/test.bash
+ENTRYPOINT [ "/r2r/tests/test.bash" ]

examples/create_rosbag.rs

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+use anyhow::Result;
+use rosbag2_rs::Writer;
+use std::path::Path;
+
+fn main() -> Result<()> {
+    // Specify the path for the new ROS2 bag
+    let bag_path = Path::new("example_rosbag_by_rust");
+
+    // Initialize the Writer
+    let mut writer = Writer::new(bag_path);
+    writer.open()?;
+
+    // Define a standard ROS2 message type (adjust this according to actual ROS2 message types)
+    let topic = "example_topic";
+    let msgtype = "std_msgs/msg/Int32";
+
+    // Add a connection for this message type
+    // adjust qos profile according to actual ROS2 message types (https://docs.ros2.org/latest/api/rmw/structrmw__qos__profile__t.html)
+    const LATCH: &str = r#"- history: 3
+  depth: 0
+  reliability: 1
+  durability: 1
+  deadline:
+    sec: 2147483647
+    nsec: 4294967295
+  lifespan:
+    sec: 2147483647
+    nsec: 4294967295
+  liveliness: 1
+  liveliness_lease_duration:
+    sec: 2147483647
+    nsec: 4294967295
+  avoid_ros_namespace_conventions: false
+"#;
+
+    let connection = writer.add_connection(topic, msgtype, "cdr", LATCH)?;
+
+    // Write some dummy messages
+    for i in 0..50 {
+        let dummy_data = [0, 1, 0, 1, 43, 42, 0, 0]; // dummy data 0x2a2b = (int32)10795
+        writer.write(&connection, 1_000_000_000 * i, &dummy_data)?;
+    }
+
+    writer.close()?;
+
+    println!("ROS2 bag created at {:?}", bag_path);
+    Ok(())
+}

src/lib.rs

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+pub mod metadata;
+pub use metadata::*;
+
+pub mod writer;
+pub use writer::*;
+
+#[derive(Clone, Debug, PartialEq)]
+pub struct TopicConnection {
+    pub id: i32,
+    pub topic: String,
+    pub msgtype: String,
+    // pub msgdef: String,
+    // pub digest: String,
+    pub msgcount: i32,
+    pub ext: ConnectionExt,
+}
+
+#[derive(Clone, Debug, PartialEq)]
+pub struct ConnectionExt {
+    pub serialization_format: String,
+    pub offered_qos_profiles: String,
+    // Add other fields specific to ROS bag version 2
+}
+
+pub fn add(left: usize, right: usize) -> usize {
+    left + right
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn it_works() {
+        let result = add(2, 2);
+        assert_eq!(result, 4);
+    }
+}

src/metadata.rs

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+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+
+#[derive(Serialize, Deserialize)]
+pub struct StartingTime {
+    pub nanoseconds_since_epoch: i64,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct BagDuration {
+    pub nanoseconds: i64,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct TopicMetadata {
+    pub name: String,
+
+    #[serde(rename = "type")]
+    pub type_: String, // `type` is a reserved keyword in Rust
+    pub serialization_format: String,
+    pub offered_qos_profiles: String,
+    // pub type_description_hash: String // TODO: humble rosbag2 does not need this field
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct TopicWithMessageCount {
+    pub message_count: i32,
+    pub topic_metadata: TopicMetadata,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct FileInformation {
+    pub path: String,
+    pub starting_time: StartingTime,
+    pub duration: BagDuration,
+    pub message_count: i32,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct Metadata {
+    pub version: i32,
+    pub storage_identifier: String,
+    pub relative_file_paths: Vec<String>,
+    pub starting_time: StartingTime,
+    pub duration: BagDuration,
+    pub message_count: i32,
+    pub compression_format: String,
+    pub compression_mode: String,
+    pub topics_with_message_count: Vec<TopicWithMessageCount>,
+    pub files: Vec<FileInformation>,
+    pub custom_data: HashMap<String, String>,
+    pub ros_distro: String,
+}
+
+#[derive(Serialize, Deserialize)]
+pub struct BagFileInfo {
+    pub rosbag2_bagfile_information: Metadata,
+}