[Humble backport] rosbag2_storage_mcap: merge into rosbag2 repo (#1163)…

… (#1189)

* [backport] rosbag2_storage_mcap: merge into rosbag2 repo (#1163)

* rosbag2_storage_mcap: merge into ros2/rosbag2

Signed-off-by: James Smith <james@foxglove.dev>

mcap_storage: 'none' is a valid storage preset profile (#86)

Signed-off-by: James Smith <james@foxglove.dev>

bloom: add changelog changes

0.6.0

* ci: include rosbag2_storage_mcap

Signed-off-by: James Smith <james@foxglove.dev>

* package.xml: include ROS Tooling WG maintainers

Signed-off-by: James Smith <james@foxglove.dev>

* rosbag2_storage_mcap: update readme after move

Signed-off-by: James Smith <james@foxglove.dev>

Signed-off-by: James Smith <james@foxglove.dev>

* zstd_vendor: do not remove zstd_errors.h

Signed-off-by: James Smith <james@foxglove.dev>

Signed-off-by: James Smith <james@foxglove.dev>

.github/workflows/lint.yml

@@ -61,6 +61,27 @@ jobs:
             rosbag2_transport
             shared_queues_vendor
 
+  ament_lint_clang_format: # Linters applicable to C++ packages formatted with clang-format
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, cpplint, clang_format]
+          include:
+          - linter: clang_format
+            arguments: "--config rosbag2_storage_mcap/.clang-format"
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        linter: ${{ matrix.linter }}
+        arguments: ${{ matrix.arguments }}
+        distribution: rolling
+        package-name: rosbag2_storage_mcap
+
   ament_lint_python: # Linters applicable to Python packages
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest

.github/workflows/test.yml

@@ -20,6 +20,7 @@ jobs:
       uses: ros-tooling/action-ros-ci@v0.2
       with:
         package-name: |
+          mcap_vendor
           ros2bag
           rosbag2
           rosbag2_compression
@@ -29,6 +30,8 @@ jobs:
           rosbag2_py
           rosbag2_storage
           rosbag2_storage_default_plugins
+          rosbag2_storage_mcap
+          rosbag2_storage_mcap_testdata
           rosbag2_test_common
           rosbag2_tests
           rosbag2_transport

mcap_vendor/CHANGELOG.rst

@@ -0,0 +1,64 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mcap_vendor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.6.0 (2022-11-28)
+------------------
+* Fix Windows build (`#73 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/73>`_)
+  Update mcap version to newest windows-compatible release.
+  Add visibility macros for tests.
+  Add clang-format preprocessor indentation for visibility_control to be readable.
+* Contributors: Emerson Knapp
+
+0.5.0 (2022-11-02)
+------------------
+* mcap_vendor: update to v0.6.0 (`#69 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/69>`_)
+* Cleanup in `mcap_vendor` package (`#62 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/62>`_)
+* Switch to using the vendored zstd library. (`#59 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/59>`_)
+* Contributors: Chris Lalancette, Michael Orlov, James Smith
+
+0.4.0 (2022-10-06)
+------------------
+
+0.2.0 (2022-09-08)
+------------------
+* Support timestamp-ordered playback (`#50 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/50>`_)
+* Support regex topic filtering
+* Contributors: James Smith
+
+0.1.7 (2022-08-15)
+------------------
+* Add all lz4 sources to fix undefined symbols at runtime (`#46 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/46>`_)
+* Contributors: Emerson Knapp
+
+0.1.6 (2022-07-22)
+------------------
+* Upgrade mcap to fix LZ4 error and segfault (`#42 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/42>`_)
+  Incorporates fixes from https://github.com/foxglove/mcap/pull/478 and https://github.com/foxglove/mcap/pull/482
+* Add missing buildtool_depend on git (`#37 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/37>`_)
+  This vendor package uses git to fetch sources for other packages. It should declare a dependency on that build tool.
+  This should address the current cause of RPM build failures for RHEL: https://build.ros2.org/view/Rbin_rhel_el864/job/Rbin_rhel_el864__mcap_vendor__rhel_8_x86_64__binary/
+* Contributors: Jacob Bandes-Storch, Scott K Logan
+
+0.1.5 (2022-04-25)
+------------------
+* Test Foxy & Galactic in CI, fix missing test_depends in mcap_vendor/package.xml (`#33 <https://github.com/ros-tooling/rosbag2_storage_mcap/issues/33>`_)
+* Contributors: Jacob Bandes-Storch
+
+0.1.4 (2022-04-21)
+------------------
+* fix: minor issues (`#31 <https://github.com/wep21/rosbag2_storage_mcap/issues/31>`_)
+  * remove unnecessary block
+  * use target_link_libraries instead of ament_target_dependencies
+  * remove ros environment
+  * add prefix to compile definition
+* Update email address for Foxglove maintainers (`#32 <https://github.com/wep21/rosbag2_storage_mcap/issues/32>`_)
+* Contributors: Daisuke Nishimatsu, Jacob Bandes-Storch
+
+0.1.3 (2022-04-20)
+------------------
+
+0.1.2 (2022-04-20)
+------------------
+* Added mcap_vendor package. Updated CMakeLists.txt to fetch dependencies with FetchContent rather than Conan.
+* Contributors: Jacob Bandes-Storch

mcap_vendor/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.5)
+project(mcap_vendor LANGUAGES C CXX ASM)
+
+## Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(zstd_vendor REQUIRED)
+find_package(zstd REQUIRED)
+
+## Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+if (MSVC)
+  add_compile_options(/W4 /WX
+    /wd4251 # suppress warning about having template instances (such as std::string) as public class members
+  )
+  # suppress error disallowing `fopen` in favor of `fopen_s`
+  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
+endif()
+
+## Define vendor macro
+macro(build_mcap_vendor)
+  include(FetchContent)
+  fetchcontent_declare(mcap
+    GIT_REPOSITORY https://github.com/foxglove/mcap.git
+    GIT_TAG dc6561d9ba867901709e36526dcf7f7359861e9c # releases/cpp/v0.7.0
+  )
+  fetchcontent_makeavailable(mcap)
+
+  fetchcontent_declare(lz4
+    GIT_REPOSITORY https://github.com/lz4/lz4.git
+    GIT_TAG d44371841a2f1728a3f36839fd4b7e872d0927d3 # v1.9.3
+  )
+  fetchcontent_makeavailable(lz4)
+
+  file(GLOB _lz4_srcs
+    ${lz4_SOURCE_DIR}/lib/*.c)
+
+  add_library(mcap SHARED
+    src/main.cpp
+    ${_lz4_srcs}
+  )
+
+  set(_mcap_include_dir ${mcap_SOURCE_DIR}/cpp/mcap/include)
+
+  target_include_directories(mcap PRIVATE
+    ${lz4_SOURCE_DIR}/lib
+  )
+  target_include_directories(mcap PUBLIC
+    "$<BUILD_INTERFACE:${_mcap_include_dir}>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  )
+  ament_target_dependencies(mcap zstd)
+
+  install(
+    DIRECTORY ${_mcap_include_dir}/mcap
+    DESTINATION include/${PROJECT_NAME}
+  )
+
+  install(
+    TARGETS mcap
+    EXPORT mcap
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+endmacro()
+
+## Call vendor macro
+build_mcap_vendor()
+
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_targets(mcap HAS_LIBRARY_TARGET)
+ament_export_dependencies(zstd_vendor zstd)
+
+## Package
+ament_package()

mcap_vendor/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mcap_vendor</name>
+  <version>0.6.0</version>
+  <description>mcap vendor package</description>
+  <maintainer email="ros-tooling@foxglove.dev">Foxglove</maintainer>
+  <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>git</buildtool_depend>
+
+  <depend>zstd_vendor</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mcap_vendor/src/main.cpp

@@ -0,0 +1,16 @@
+// Copyright 2022, Foxglove Technologies. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#define MCAP_IMPLEMENTATION
+#include <mcap/mcap.hpp>

rosbag2_storage_mcap/.clang-format

@@ -0,0 +1,37 @@
+---
+Language: Cpp
+Standard: c++17
+BasedOnStyle: Google
+
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortLambdasOnASingleLine: Empty
+AccessModifierOffset: -2
+TabWidth: 2
+ContinuationIndentWidth: 2
+UseTab: Never
+BreakConstructorInitializers: BeforeComma
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+DerivePointerAlignment: false
+FixNamespaceComments: true
+PointerAlignment: Middle
+ReflowComments: false
+SortIncludes: true
+IndentPPDirectives: BeforeHash
+
+IncludeCategories:
+  - Regex: '^"'
+    Priority: 1
+  - Regex: "^<mcap"
+    Priority: 2
+  - Regex: "^<.*/"
+    Priority: 3
+  - Regex: "^<.*"
+    Priority: 4

rosbag2_storage_mcap/.vscode/settings.json

@@ -0,0 +1,13 @@
+// -*- jsonc -*-
+{
+    "git.alwaysSignOff": true,
+
+    // https://github.com/microsoft/vscode-cpptools/issues/722
+    "C_Cpp.autoAddFileAssociations": false,
+    "C_Cpp.default.cppStandard": "c++17",
+
+    "[cpp]": {
+        "editor.formatOnSave": true
+    },
+    "cmake.sourceDirectory": "${workspaceFolder}",
+}