Add integration test for mcap storage plugin #1185
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Concerning the MCAP storage plugin
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Blocked on #1163 |
This was referenced Nov 28, 2022
This was referenced Dec 12, 2022
james-rms
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Dec 22, 2022
switches the default storage plugin from `sqlite3` to `mcap`. ## Reason for change Benchmarks suggest that MCAP can support higher write throughput than the `sqlite3` plugin in its default configuration, while also bringing the following other benefits: * Append-only write behavior ensures that only the last few messages written can be corrupted in the case of a power outage or recorder crash. This is similar to the corruption guarantees offered by SQLite3 in [WAL mode](https://sqlite.org/wal.html), which is what is used in the `resilient` SQLite storage plugin preset. * Ability to enable chunk compression, which should be more space-efficient than message compression for bags with many small messages. This also enables reader to use the message index, unlike file-level compression. * Record message schemas to the bag by default, enabling applications outside the ROS 2 workspace to read message content. ## Benchmarks Read the benchmarking analysis that lead to this conclusion [here](https://mcap.dev/performance-comparison/rosbag2-plugin-comparison.html). ### `rosbag2_performance_benchmarking` There is a set of pre-existing benchmarks in the rosbag2 repo here: https://github.com/ros2/rosbag2/tree/rolling/rosbag2_performance/rosbag2_performance_benchmarking We've run these in an attempt to compare the performance of MCAP against SQLite on these metrics, but at this point the results appear to be pure noise. A full analysis of why will be published to mcap.dev shortly, but for now the news is that we have not succeeded in producing a statistically significant difference in results between MCAP and SQLite. ## TODO - [x] #1112 - [x] ros-tooling/rosbag2_storage_mcap#61 - [x] ros-tooling/rosbag2_storage_mcap#63 - [x] #1185 - [x] Parametrize `rosbag2_tests`
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The latest release of mcap storage plugin is currently broken on one or more distributions (ros-tooling/rosbag2_storage_mcap#82).
We need to add an integration test to CI & the buildfarm that will prevent such issues in the future.
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