Add input[output]_serialization_format to the RecordOptions #2215
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- Rationale: To be able to explicitly specify input and output serialization formats from the direct Rosbag2 recorder API in the future and avoid unnecessary conversion. - The former `RecordOptions::rmw_serialization_format` wasn't removed, but rather a deprecation message was added in the log if it is used. Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
MichaelOrlov
requested review from
Barry-Xu-2018,
christophebedard,
emersonknapp and
fujitatomoya
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Pulls: #2215
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MichaelOrlov
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morlov/add-in-out-serialization-format-for-recorder
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Description
This PR adds a new
input[output]_serialization_formatfields to theRecordOptionsin replacement of theRecordOptions::rmw_serialization_format. The new options parameters are needed to avoid possible conversion to the CDR serialization if incoming messages are originally serialized in a different format, which is currently made by default.These changes needed to facilitate:
from the #2214
The newly added
RecorderOptionfields explicitly specify input and output serialization formats for the messages the recorder processes.Please note that if
input_serialization_formatandoutput_serialization_formatare different, the Rosbag2 recorder will try to find a plugin and use it for conversion from one serialization format to another.Is this user-facing behavior change?
Note: The former
RecordOptions::rmw_serialization_formatwasn't removed, but rather a deprecation message was added in the log if it is used.While the backward compatibility on the API level is preserved, it is advised to use the newly added
RecordOptions::output_serialization_formatinstead of theRecordOptions::rmw_serialization_formatsince the latter is expected to be removed after the next ROS 2 distro release.Did you use Generative AI?
Yes. I am using GitHub Copilot, GPT-4.1 in my workflow
Additional Information
Note: The former
RecordOptions::rmw_serialization_formatwasn't removed, but rather a deprecation message was added in the log if it is used.This PR can't be backported since it introduces ABI-breaking changes.