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rosbag2_record_replay_action.md

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Rosbag2 record and replay action

Context

This design describes how to implement this feature based on current architecture and how to extend current command parameter.

How to record action message

The implementation of the action uses three services and two topics. For the services, when service introspection is enabled, rosbag2 can record service data through the service event topic (refer to rosbag2_record_replay_service.md). So all data related to the action can be recorded.

Which topics should be focused on for an action

  • goal service

    [NameSpace/]ActionName/_action/send_goal (Service Event Topic: [NameSpace/]ActionName/_action/send_goal/_service_event)

  • result service

    [NameSpace/]ActionName/_action/get_result (Service Event Topic: [NameSpace/]ActionName/_action/get_result/_service_event)

  • cancel service

    [NameSpace/]ActionName/_action/cancel_goal (Service Event Topic: [NameSpace/]ActionName/_action/cancel_goal/_service_event)

  • status topic

    [NameSpace/]ActionName/_action/status

  • feedback topic

    [NameSpace/]ActionName/_action/feedback

For an action, five related topics will be recorded.

Expand the 'record' command

Newly added arguments:

Argument Name Description
--actions ActionName [ActionName ...] Space-delimited list of actions to record.
--all-actions Record all actions via service event topics and hidden action topics.
--exclude-actions ActionName [ActionName ...] Space-delimited list of actions not being recorded. Works on top of --all, --all-actions, --actions or --regex.

Updated arguments:

Argument Name Description
-a, --all Record all topics, services and actions (Exclude hidden topic).
-e REGEX, --regex REGEX Record only topics, services and actions containing provided regular expression. Note: --all, --all-topics, --all-services or --all-actions will override --regex.
--exclude-regex EXCLUDE_REGEX Exclude topics, services and actions containing provided regular expression. Works on top of --all, --all-topics, --all-services, --all-actions, --topics, --services, --actions or --regex.

Change output of 'Info' command

Add action part.

Without -v or --verbose parameter, info command shows as below example.

    Files:             <bag_name>.mcap
    Bag size:          39.9 KiB
    Storage id:        mcap
    ROS Distro:        rolling
    Duration:          4.835s
    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
    Messages:          39
    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
    Service:           1
    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Event Count: 42 | Serialization Format: cdr
    Action: 2
    Action information:
      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 1
        Topic: status | Count: 10
        Service: send_goal | Event Count: 20
        Service: cancel_goal | Event Count: 2
        Service: get_result | Event Count: 9
      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 2
        Topic: status | Count: 20
        Service: send_goal | Event Count: 40
        Service: cancel_goal | Event Count: 4
        Service: get_result | Event Count: 9

With -v or --verbose parameter, info command shows as below example.

    Files:             <bag_name>.mcap
    Bag size:          39.9 KiB
    Storage id:        mcap
    ROS Distro:        rolling
    Duration:          4.835s
    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
    Messages:          39
    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
    Service:           1
    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Request Count: 20 | Response Count: 22 | Serialization Format: cdr
    Action: 2
    Action information:
      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 1
        Topic: status | Count: 10
        Service: send_goal | Request Count: 10 | Response Count: 10
        Service: cancel_goal | Request Count: 1 | Response Count: 1
        Service: get_result | Request Count: 5 | Response Count: 4
      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 2
        Topic: status | Count: 20
        Service: send_goal | Request Count: 20 | Response Count: 20
        Service: cancel_goal | Request Count: 2 | Response Count: 2
        Service: get_result | Request Count: 5 | Response Count: 4

Expand the 'play' command

Newly added arguments:

Argument Name Description
--actions action [action ...] Space-delimited list of actions to play.
--exclude-actions action [action ...] Space-delimited list of actions not to play.
--send-action-goal Send recorded action goal instead of recorded service events and action internal topics.

Updated arguments:

Argument Name Description
-e REGEX, --regex REGEX Play only topics, services and actions matches with regular expression.
-x EXCLUDE_REGEX, --exclude-regex EXCLUDE_REGEX regular expressions to exclude topics, services and actions from replay.
--service-requests-source {service_introspection,client_introspection} Determine the source of the service requests to be replayed. This option only makes sense if the "--publish-service-requests" or "--send-action-goal" option is set. By default, the service requests replaying from recorded service introspection message.