WIP add rosbag2_py test_convert

Signed-off-by: Emerson Knapp <[email protected]>

Author: emersonknapp

rosbag2_py/CMakeLists.txt

@@ -154,6 +154,7 @@ if(BUILD_TESTING)
     # python extension built with libc++.
     set(other_environment_vars "ROSBAG2_PY_TEST_WITH_RTLD_GLOBAL=True")
   endif()
+  set(other_environment_vars "${other_environment_vars} ROSBAG2_PY_TEST_RESOURCES_DIR=${CMAKE_CURRENT_SOURCE_DIR}/test/resources")
   ament_add_pytest_test(test_sequential_reader_py "test/test_sequential_reader.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
     APPEND_ENV
@@ -181,6 +182,11 @@ if(BUILD_TESTING)
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
     APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
   )
+  ament_add_pytest_test(test_convert_py
+    "test/test_convert.py"
+    PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
+    APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
+  )
 endif()
 
 ament_package()

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -188,7 +188,8 @@ void bag_rewrite(
     throw std::runtime_error("Output bag config YAML file must have top-level key 'output_bags'");
   }
   if (!bag_nodes.IsSequence()) {
-    throw std::runtime_error("Top-level key 'output_bags' must contain a list.");
+    throw std::runtime_error(
+      "Top-level key 'output_bags' must contain a list of StorageOptions/RecordOptions dicts.");
   }
 
   std::vector<

rosbag2_py/test/resources/convert_a/metadata.yaml

@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 100000000
+  starting_time:
+    nanoseconds_since_epoch: 0
+  message_count: 150
+  topics_with_message_count:
+    - topic_metadata:
+        name: a_empty
+        type: test_msgs/msg/Empty
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false\n- history: 1\n  depth: 2\n  reliability: 2\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 100
+    - topic_metadata:
+        name: b_basictypes
+        type: test_msgs/msg/BasicTypes
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 50
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rewriter_a_0.db3
+  files:
+    - path: rewriter_a_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 0
+      duration:
+        nanoseconds: 100000000
+      message_count: 150

rosbag2_py/test/resources/convert_a/rewriter_a_0.db3

@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 222000000
+  starting_time:
+    nanoseconds_since_epoch: 0
+  message_count: 75
+  topics_with_message_count:
+    - topic_metadata:
+        name: c_strings
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 50
+    - topic_metadata:
+        name: a_empty
+        type: test_msgs/msg/Empty
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 25
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rewriter_b_0.db3
+  files:
+    - path: rewriter_b_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 0
+      duration:
+        nanoseconds: 222000000
+      message_count: 75