Add examples for rosbag2_transport::Recorder

rosbag2_examples/rosbag2_examples_cpp/CMakeLists.txt

@@ -24,28 +24,48 @@ find_package(rosbag2_cpp REQUIRED)
 find_package(rosbag2_transport REQUIRED)
 find_package(example_interfaces REQUIRED)
 
+add_executable(compressed_bag_recorder src/compressed_bag_recorder.cpp)
+target_link_libraries(compressed_bag_recorder
+  rosbag2_transport::rosbag2_transport
+)
+
+install(TARGETS
+  compressed_bag_recorder
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 add_executable(simple_bag_recorder src/simple_bag_recorder.cpp)
 target_link_libraries(simple_bag_recorder
+  rosbag2_transport::rosbag2_transport
+)
+
+install(TARGETS
+  simple_bag_recorder
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+add_executable(simple_bag_writer src/simple_bag_writer.cpp)
+target_link_libraries(simple_bag_writer
   rclcpp::rclcpp
   rosbag2_cpp::rosbag2_cpp
   ${example_interfaces_TARGETS}
 )
 
 install(TARGETS
-  simple_bag_recorder
+  simple_bag_writer
   DESTINATION lib/${PROJECT_NAME}
 )
 
-add_executable(compressed_bag_recorder src/compressed_bag_recorder.cpp)
-target_link_libraries(compressed_bag_recorder
+add_executable(compressed_bag_writer.cpp src/compressed_bag_writer.cpp)
+target_link_libraries(compressed_bag_writer.cpp
   rclcpp::rclcpp
   rosbag2_cpp::rosbag2_cpp
   rosbag2_compression::rosbag2_compression
   ${example_interfaces_TARGETS}
 )
 
 install(TARGETS
-  compressed_bag_recorder
+  compressed_bag_writer.cpp
   DESTINATION lib/${PROJECT_NAME}
 )
 

rosbag2_examples/rosbag2_examples_cpp/src/compressed_bag_recorder.cpp

@@ -1,4 +1,4 @@
-// Copyright 2025 Open Source Robotics Foundation
+// Copyright 2026 Open Source Robotics Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,54 +12,31 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <memory>
+#include "rosbag2_transport/reader_writer_factory.hpp"
+#include "rosbag2_transport/recorder.hpp"
 
-#include "example_interfaces/msg/string.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-#include "rosbag2_compression/compression_options.hpp"
-#include "rosbag2_compression/sequential_compression_writer.hpp"
-
-#include "rosbag2_cpp/writer.hpp"
-
-using std::placeholders::_1;
-
-class CompressedBagRecorder : public rclcpp::Node {
-public:
-  CompressedBagRecorder()
-  : Node("compressed_bag_recorder")
-  {
-    rosbag2_compression::CompressionOptions compression_options;
-
-    compression_options.compression_format = "zstd";
-    compression_options.compression_mode = rosbag2_compression::CompressionMode::FILE;
-
-    auto compressed_writer = std::make_unique<rosbag2_compression::SequentialCompressionWriter>(
-      compression_options);
-
-    writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(compressed_writer));
-    writer_->open("my_bag");
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
 
-    subscription_ = this->create_subscription<example_interfaces::msg::String>(
-      "chatter", 10, std::bind(&CompressedBagRecorder::topic_callback, this, _1));
-  }
+  rosbag2_storage::StorageOptions storage_options;
+  storage_options.uri = "my_bag";
 
-private:
-  void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
-  {
-    rclcpp::Time time_stamp = this->now();
+  rosbag2_transport::RecordOptions record_options;
+  record_options.all_topics = true;
+  record_options.rmw_serialization_format = "cdr";
+  record_options.compression_format = "zstd";
+  record_options.compression_mode = "file";
 
-    writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
-  }
+  // Calling ReaderWriterFactory creates a writer with compression parameters
+  auto writer = rosbag2_transport::ReaderWriterFactory::make_writer(record_options);
+  auto recorder = std::make_shared<rosbag2_transport::Recorder>(
+    std::move(writer), storage_options, record_options);
 
-  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
-  std::unique_ptr<rosbag2_cpp::Writer> writer_;
-};
+  recorder->record();
+  rclcpp::spin(recorder);
 
-int main(int argc, char *argv[])
-{
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<CompressedBagRecorder>());
+  recorder->stop();
   rclcpp::shutdown();
   return 0;
 }

rosbag2_examples/rosbag2_examples_cpp/src/compressed_bag_writer.cpp

@@ -0,0 +1,65 @@
+// Copyright 2025 Open Source Robotics Foundation
+//
+// 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.
+
+#include <memory>
+
+#include "example_interfaces/msg/string.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_compression/compression_options.hpp"
+#include "rosbag2_compression/sequential_compression_writer.hpp"
+
+#include "rosbag2_cpp/writer.hpp"
+
+using std::placeholders::_1;
+
+class CompressedBagWriter : public rclcpp::Node {
+public:
+  CompressedBagWriter()
+  : Node("compressed_bag_writer")
+  {
+    rosbag2_compression::CompressionOptions compression_options;
+
+    compression_options.compression_format = "zstd";
+    compression_options.compression_mode = rosbag2_compression::CompressionMode::FILE;
+
+    auto compressed_writer = std::make_unique<rosbag2_compression::SequentialCompressionWriter>(
+      compression_options);
+
+    writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(compressed_writer));
+    writer_->open("my_bag");
+
+    subscription_ = this->create_subscription<example_interfaces::msg::String>(
+      "chatter", 10, std::bind(&CompressedBagWriter::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
+  {
+    rclcpp::Time time_stamp = this->now();
+
+    writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
+  }
+
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
+  std::unique_ptr<rosbag2_cpp::Writer> writer_;
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<CompressedBagWriter>());
+  rclcpp::shutdown();
+  return 0;
+}

rosbag2_examples/rosbag2_examples_cpp/src/simple_bag_recorder.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 Open Source Robotics Foundation
+// Copyright 2026 Open Source Robotics Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,44 +12,27 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <memory>
+#include "rosbag2_transport/recorder.hpp"
 
-#include "example_interfaces/msg/string.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-#include "rosbag2_cpp/writer.hpp"
-
-using std::placeholders::_1;
-
-class SimpleBagRecorder : public rclcpp::Node
+int main(int argc, char *argv[])
 {
-public:
-  SimpleBagRecorder()
-  : Node("simple_bag_recorder")
-  {
-    writer_ = std::make_unique<rosbag2_cpp::Writer>();
+  rclcpp::init(argc, argv);
 
-    writer_->open("my_bag");
+  rosbag2_storage::StorageOptions storage_options;
+  storage_options.uri = "my_bag";
 
-    subscription_ = create_subscription<example_interfaces::msg::String>(
-      "chatter", 10, std::bind(&SimpleBagRecorder::topic_callback, this, _1));
-  }
+  rosbag2_transport::RecordOptions record_options;
+  record_options.all_topics = true;
+  record_options.rmw_serialization_format = "cdr";
 
-private:
-  void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
-  {
-    rclcpp::Time time_stamp = this->now();
-    writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
-  }
+  auto writer = std::make_unique<rosbag2_cpp::Writer>();
+  auto recorder = std::make_shared<rosbag2_transport::Recorder>(
+    std::move(writer), storage_options, record_options);
 
-  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
-  std::unique_ptr<rosbag2_cpp::Writer> writer_;
-};
+  recorder->record();
+  rclcpp::spin(recorder);
 
-int main(int argc, char * argv[])
-{
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<SimpleBagRecorder>());
+  recorder->stop();
   rclcpp::shutdown();
   return 0;
 }

rosbag2_examples/rosbag2_examples_cpp/src/simple_bag_writer.cpp

@@ -0,0 +1,55 @@
+// Copyright 2021 Open Source Robotics Foundation
+//
+// 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.
+
+#include <memory>
+
+#include "example_interfaces/msg/string.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_cpp/writer.hpp"
+
+using std::placeholders::_1;
+
+class SimpleBagWriter : public rclcpp::Node
+{
+public:
+  SimpleBagWriter()
+  : Node("simple_bag_writer")
+  {
+    writer_ = std::make_unique<rosbag2_cpp::Writer>();
+
+    writer_->open("my_bag");
+
+    subscription_ = create_subscription<example_interfaces::msg::String>(
+      "chatter", 10, std::bind(&SimpleBagWriter::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
+  {
+    rclcpp::Time time_stamp = this->now();
+    writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
+  }
+
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
+  std::unique_ptr<rosbag2_cpp::Writer> writer_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SimpleBagWriter>());
+  rclcpp::shutdown();
+  return 0;
+}