Add cli option compression-threads-priority

Signed-off-by: Roman Sokolkov <[email protected]>

ros2bag/ros2bag/verb/record.py

@@ -194,6 +194,10 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
         '--compression-threads', type=int, default=0,
         help='Number of files or messages that may be compressed in parallel. '
              'Default is %(default)d, which will be interpreted as the number of CPU cores.')
+    parser.add_argument(
+        '--compression-threads-priority', type=int, default=0,
+        help='Thread scheduling priority. For Linux nice value. For Windows SetThreadPriority argument value. '
+             'Default is %(default)d.')
     parser.add_argument(
         '--compression-mode', type=str, default='none',
         choices=['none', 'file', 'message'],
@@ -338,6 +342,7 @@ def main(self, *, args):  # noqa: D102
         record_options.compression_format = args.compression_format
         record_options.compression_queue_size = args.compression_queue_size
         record_options.compression_threads = args.compression_threads
+        record_options.compression_threads_priority = args.compression_threads_priority
         record_options.topic_qos_profile_overrides = qos_profile_overrides
         record_options.include_hidden_topics = args.include_hidden_topics
         record_options.include_unpublished_topics = args.include_unpublished_topics

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -573,6 +573,7 @@ PYBIND11_MODULE(_transport, m) {
   .def_readwrite("compression_format", &RecordOptions::compression_format)
   .def_readwrite("compression_queue_size", &RecordOptions::compression_queue_size)
   .def_readwrite("compression_threads", &RecordOptions::compression_threads)
+  .def_readwrite("compression_threads_priority", &RecordOptions::compression_threads_priority)
   .def_property(
     "topic_qos_profile_overrides",
     &RecordOptions::getTopicQoSProfileOverrides,