Fixing recorder issues

Signed-off-by: Patrick Roncagliolo <[email protected]>

rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp

@@ -298,9 +298,7 @@ RecordOptions get_record_options_from_node_params(rclcpp::Node * node)
     "start_paused",
     false);
 
-  record_options.use_sim_time = node->declare_parameter<bool>(
-    "use_sim_time",
-    false);
+  record_options.use_sim_time = node->get_parameter("use_sim_time").get_value<bool>();
 
 
   if (record_options.use_sim_time && record_options.is_discovery_disabled) {

rosbag2_transport/test/resources/params_recorder.yaml

@@ -2,7 +2,7 @@ recorder_params_node:
   ros__parameters:
     all: true
     is_discovery_disabled: true
-    topics: {"topic", "other_topic"}
+    topics: ["topic", "other_topic"]
     rmw_serialization_format: "cdr"
     topic_polling_interval:
       sec: 0

rosbag2_transport/test/rosbag2_transport/rosbag2_record_test_fixture.hpp

@@ -0,0 +1,41 @@
+// Copyright 2018, Patrick Roncagliolo
+//
+// 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.
+
+#ifndef ROSBAG2_TRANSPORT__ROSBAG2_RECORD_TEST_FIXTURE_HPP_
+#define ROSBAG2_TRANSPORT__ROSBAG2_RECORD_TEST_FIXTURE_HPP_
+
+#include <memory>
+
+#include "rosbag2_test_common/publication_manager.hpp"
+#include "rosbag2_transport_test_fixture.hpp"
+
+class RosBag2RecordTestFixture : public Rosbag2TransportTestFixture
+{
+public:
+  RosBag2RecordTestFixture()
+  : Rosbag2TransportTestFixture()
+  {
+    rclcpp::init(0, nullptr);
+    pub_ = std::make_shared<PublicationManager>();
+  }
+
+  ~RosBag2RecordTestFixture() override
+  {
+    rclcpp::shutdown();
+  }
+
+  std::shared_ptr<PublicationManager> pub_;
+};
+
+#endif  //  ROSBAG2_TRANSPORT__ROSBAG2_RECORD_TEST_FIXTURE_HPP_

rosbag2_transport/test/rosbag2_transport/test_play_params.cpp

@@ -50,12 +50,12 @@ TEST_F(RosBag2PlayTestFixture, parse_parameter_from_file) {
   YAML::Node yaml_storage_opt = YAML::convert<rosbag2_storage::StorageOptions>().encode(
     storage_options);
 
-  auto param_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/params.yaml");
+  auto param_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/params_player.yaml");
   auto qos_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/overrides.yaml");
 
   YAML::Emitter emitter;
   emitter 
-  << YAML::Newline << YAML::Comment("params.yaml")
+  << YAML::Newline << YAML::Comment("params_player.yaml")
   << param_node << YAML::Newline 
   << YAML::Newline << YAML::Comment("overrides.yaml")
   << qos_node << YAML::Newline 

rosbag2_transport/test/rosbag2_transport/test_record_params.cpp

@@ -24,11 +24,11 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "mock_recorder.hpp"
-#include "rosbag2_transport_test_fixture.hpp"
+#include "rosbag2_record_test_fixture.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 #include "rosbag2_transport/record_options.hpp"
 
-TEST_F(Rosbag2TransportTestFixture, parse_parameter_from_file) {
+TEST_F(RosBag2RecordTestFixture, parse_parameter_from_file) {
   // _SRC_RESOURCES_DIR_PATH defined in CMakeLists.txt
   rclcpp::NodeOptions opts;
   opts.arguments(
@@ -50,12 +50,15 @@ TEST_F(Rosbag2TransportTestFixture, parse_parameter_from_file) {
   YAML::Node yaml_storage_opt = YAML::convert<rosbag2_storage::StorageOptions>().encode(
     storage_options);
 
-  auto param_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/params.yaml");
+  auto param_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/params_recorder.yaml");
+  auto qos_node = YAML::LoadFile(_SRC_RESOURCES_DIR_PATH "/overrides.yaml");
 
   YAML::Emitter emitter;
   emitter 
   << YAML::Newline << YAML::Comment("params.yaml")
   << param_node << YAML::Newline
+  << YAML::Newline << YAML::Comment("overrides.yaml")
+  << qos_node << YAML::Newline 
   << YAML::Newline << YAML::Comment("node record parameters")
   << yaml_record_opt << YAML::Newline
   << YAML::Newline << YAML::Comment("node storage parameters")