Add scheduled play/resume support to Rosbag2 player for distributed replay#2376
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Add scheduled play/resume support to Rosbag2 player for distributed replay#2376MichaelOrlov wants to merge 2 commits intorollingfrom
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- Extend Play.srv with start_time and update Resume.srv for time-based resume requests, implement future-scheduled play and resume handling in rosbag2_transport::Player, and add/adjust player mocks and service tests to cover the new scheduling behavior in composable and service-based playback. Co-authored-by: ap-apexai <anup.patel@apex.ai> Signed-off-by: Michael Orlov <morlovmr@gmail.com>
- Update the playback services section to describe player-side time-based play and resume behavior, including the new Play.start_time field, future scheduling semantics, node clock usage, and player-specific return behavior for resume, seek, and stop. Signed-off-by: Michael Orlov <morlovmr@gmail.com>
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Description
This PR adds time-based playback control to
rosbag2_transport::Playerso playback can be started or resumed at a specific future time, which is useful for synchronizing multiple player instances.It updates
Play.srvwith a newstart_timefield for scheduledPlayrequests, and updatesResume.srvto support time-based resume requests. Inplayer.cpp, the player now executes play/resume immediately when the requested time is zero or in the past, or schedules the action for later when a future node time is provided. The player-sideResumeservice also validates mode support and rejects unsupportedpublish_time,receive_time, andtracking_topic_nameusage.The test updates cover the new behavior end-to-end. test_play_services.cpp adds coverage for scheduled future play and resume execution, including expected return codes. test_composable_player.cpp and mock_player.hpp have been updated to support the updated service interface and behavior.
Is this user-facing behavior change?
Yes.
-
Playservice call now includes a new fieldstart_timefor scheduling future playback operations. If set to zero, it starts playback immediately.-
Resumeservice call uses existing fieldresume_timefor scheduling. If set to zero, resumes immediately.Did you use Generative AI?
Yes. Codex gpt-5.4 was used to help updating README.md file and Copilot gpt-4.2 was used to help with tests.
Additional Information
It has updates in the API
Play.srvservice definition and can't be backported.