ros2GH-23 Allow to write all available topics

rosbag2/include/rosbag2/rosbag2.hpp

@@ -37,19 +37,37 @@ class Rosbag2Node;
 class Rosbag2
 {
 public:
+  /**
+   * Records topics to a bagfile. Subscription happens at startup time, hence the topics must
+   * exist when "record" is called.
+   *
+   * @param file_name Name of the bagfile to write
+   * @param topic_names Vector of topics to subscribe to. Topics must exist at startup time. If
+   * the vector is empty, all topics will be subscribed.
+   * @param after_write_action This function will be executed after each write to the database
+   * where the input parameter is the topic name of the topic written Currently needed for testing.
+   * Might be removed later.
+   */
   ROSBAG2_PUBLIC
   void record(
     const std::string & file_name,
     std::vector<std::string> topic_names,
     std::function<void(std::string)> after_write_action = nullptr);
 
+  /**
+   * Replay all topics in a bagfile.
+   *
+   * @param file_name Name of the bagfile to replay
+   */
   ROSBAG2_PUBLIC
   void play(const std::string & file_name);
 
+  /// Exposed for testing
   ROSBAG2_PUBLIC
   std::map<std::string, std::string> get_topics_with_types(
     const std::vector<std::string> & topic_names, std::shared_ptr<rclcpp::Node> node);
 
+  /// Exposed for testing
   ROSBAG2_PUBLIC
   std::map<std::string, std::string> get_all_topics_with_types(std::shared_ptr<rclcpp::Node> node);
 

rosbag2/src/rosbag2/demo_record.cpp

@@ -23,13 +23,15 @@
 int main(int argc, const char ** argv)
 {
   if (argc < 2) {
-    std::cerr << "\nThe names of topics to record must be given as parameter!\n";
+    std::cerr << "\nThe names of topics or `--all` must be given to record as parameter!\n";
     return 0;
   }
   std::vector<std::string> topics;
 
-  for (int i = 1; i < argc; i++) {
-    topics.emplace_back(argv[i]);
+  if (strcmp(argv[1], "--all") != 0) {
+    for (int i = 1; i < argc; i++) {
+      topics.emplace_back(argv[i]);
+    }
   }
 
   // TODO(anhosi): allow output file to be specified by cli argument and do proper checking if

rosbag2/src/rosbag2/rosbag2.cpp

@@ -57,7 +57,9 @@ void Rosbag2::record(
 
   auto node = std::make_shared<Rosbag2Node>("rosbag2");
 
-  auto topics_and_types = get_topics_with_types(topic_names, node);
+  auto topics_and_types = topic_names.empty() ?
+    get_all_topics_with_types(node) :
+    get_topics_with_types(topic_names, node);
 
   if (topics_and_types.empty()) {
     throw std::runtime_error("No topics found. Abort");