Improve snapshot feature #1
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Can we limit by duration instead of size? |
Timple
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Mar 15, 2024
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| MCAPStorageSnapshot::~MCAPStorageSnapshot() |
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I think for destructors you can write:
MCAPStorageSnapshot::~MCAPStorageSnapshot() = default
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For enabling snapshot feature you need to run bag node with the following parameters
ros2 bag record --max-cache-size 100000 --snapshot-mode /topic_you_want_to_record
The key --max-cache-size 100000 makes SequentialWriter to use rosbag2_cpp::cache::CircularMessageCache
and rosbag2_cpp::cache::CacheConsumer to process messages.
The key --snapshot-mode will enable rosbag2_interfaces::srv::Snapshot service.
The disadvantages of current implementation is that we are still writing data to the same file.
This PR will provide functionality of saving snapshot to separate file each time when we are calling
rosbag2_interfaces::srv::Snapshot service
For enabling new feature you need to provide the following parameters
storage_options_.max_bagfile_size = 1024*100;
storage_options_.storage_id = "mcap_snapshot";