Skip to content

Add compression_threads_priority to the node params parser #3

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jmachowinski merged 1 commit into from
Dec 14, 2023
Merged

Add compression_threads_priority to the node params parser #3

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -235,6 +235,10 @@ RecordOptions get_record_options_from_node_params(rclcpp::Node & node)
node, "record.compression_threads", 0, std::numeric_limits<int64_t>::max(),
record_options.compression_threads);

record_options.compression_threads_priority = param_utils::declare_integer_node_params<int32_t>(
node, "record.compression_threads_priority", std::numeric_limits<int32_t>::min(),
std::numeric_limits<int32_t>::max(), record_options.compression_threads_priority);

std::string qos_profile_overrides_path =
node.declare_parameter<std::string>("record.qos_profile_overrides_path", "");

Expand Down
1 change: 1 addition & 0 deletions rosbag2_transport/test/resources/recorder_node_params.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ recorder_params_node:
compression_format: "h264"
compression_queue_size: 10
compression_threads: 2
compression_threads_priority: -1
qos_profile_overrides_path: ""
include_hidden_topics: true
include_unpublished_topics: true
Expand Down
1 change: 1 addition & 0 deletions rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,7 @@ TEST_P(ComposableRecorderTests, recorder_can_parse_parameters_from_file) {
EXPECT_EQ(record_options.compression_format, "h264");
EXPECT_EQ(record_options.compression_queue_size, 10);
EXPECT_EQ(record_options.compression_threads, 2);
EXPECT_EQ(record_options.compression_threads_priority, -1);
std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides{
std::pair{
"/overrided_topic_qos",
Expand Down