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[iron] Propagate "custom_data" and "ros_distro" in to the metadata.yaml file during re-indexing (backport #1700) #1711

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Jun 23, 2024
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[iron] Propagate "custom_data" and "ros_distro" in to the metadata.yaml file during re-indexing (backport #1700) #1711

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6d2faea
Propagate "custom_data" and "ros_distro" in to the metadata.yaml file…
coalman321 Jun 12, 2024
cac9ecb
Remove "metadata.ros_distro" update since we don't have in on Iron
MichaelOrlov Jun 13, 2024
0c0b038
Skip check for `custom_metadata` in test for mcap storage plugin.
MichaelOrlov Jun 13, 2024
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10 changes: 10 additions & 0 deletions rosbag2_cpp/src/rosbag2_cpp/reindexer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,8 @@ void Reindexer::aggregate_metadata(
const rosbag2_storage::StorageOptions & storage_options)
{
std::map<std::string, rosbag2_storage::TopicInformation> temp_topic_info;
std::chrono::time_point<std::chrono::high_resolution_clock> latest_log_start =
std::chrono::time_point<std::chrono::high_resolution_clock>::min();

// In order to most accurately reconstruct the metadata, we need to
// visit each of the contained relative files files in the bag,
Expand All @@ -191,6 +193,14 @@ void Reindexer::aggregate_metadata(
auto temp_metadata = bag_reader->get_metadata();
metadata_.storage_identifier = temp_metadata.storage_identifier;

// try to find the last log for the most complete custom data section
if (latest_log_start < temp_metadata.starting_time) {
latest_log_start = temp_metadata.starting_time;
if (!temp_metadata.custom_data.empty()) {
metadata_.custom_data = temp_metadata.custom_data;
}
}

if (temp_metadata.starting_time < metadata_.starting_time) {
metadata_.starting_time = temp_metadata.starting_time;
}
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10 changes: 10 additions & 0 deletions rosbag2_tests/test/rosbag2_tests/test_reindexer.cpp
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Expand Up @@ -80,6 +80,7 @@ class ReindexTestFixture : public ParametrizedTemporaryDirectoryFixture
rosbag2_storage::StorageOptions storage_options;
storage_options.storage_id = GetParam();
storage_options.uri = root_bag_path_.string();
storage_options.custom_data["name"] = "value";
writer.open(storage_options);
rosbag2_storage::TopicMetadata topic;
topic.name = "/test_topic";
Expand Down Expand Up @@ -132,6 +133,15 @@ TEST_P(ReindexTestFixture, test_multiple_files) {
EXPECT_EQ(generated_metadata.storage_identifier, GetParam());
EXPECT_EQ(generated_metadata.version, target_metadata.version);

if (GetParam() != "mcap") {
// Skip check for mcap storage since it doesn't store serialized metadata in bag directly on
// Iron and Humble. Backporting of the relevant #1423 is not possible without updating
// mcap vendor package to the v1.1.0 because we have dependencies from the
// mcap_reader_->metadataIndexes(); API which became available only in the
// https://github.com/foxglove/mcap/pull/902
EXPECT_EQ(generated_metadata.custom_data, target_metadata.custom_data);
}

for (const auto & gen_rel_path : generated_metadata.relative_file_paths) {
EXPECT_TRUE(
std::find(
Expand Down
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