[humble] Allow unknown types in bag rewrite (backport #1812) (#1819)

* Allow unknown types in bag rewrite (#1812) Signed-off-by: Michael Orlov <[email protected]> (cherry picked from commit cd7bd63)
ros2 · Sep 24, 2024 · f997e40 · f997e40
1 parent 25ecab6
commit f997e40
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Showing 3 changed files with 20 additions and 2 deletions.
diff --git a/rosbag2_storage_mcap/src/message_definition_cache.cpp b/rosbag2_storage_mcap/src/message_definition_cache.cpp
@@ -14,6 +14,7 @@
 
 #include "rosbag2_storage_mcap/message_definition_cache.hpp"
 
+#include <ament_index_cpp/get_package_prefix.hpp>
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <ament_index_cpp/get_resource.hpp>
 #include <ament_index_cpp/get_resources.hpp>
@@ -165,7 +166,13 @@ const MessageSpec & MessageDefinitionCache::load_message_spec(
     namespace_name = "msg";
   }
   const std::string type_name = match[3];
-  std::string share_dir = ament_index_cpp::get_package_share_directory(package);
+  std::string share_dir;
+  try {
+    share_dir = ament_index_cpp::get_package_share_directory(package);
+  } catch (const ament_index_cpp::PackageNotFoundError & e) {
+    RCUTILS_LOG_WARN_NAMED("rosbag2_storage_mcap", "%s", e.what());
+    throw DefinitionNotFoundError(definition_identifier.package_resource_name);
+  }
   std::ifstream file{share_dir + "/" + namespace_name + "/" + type_name +
                      extension_for_format(definition_identifier.format)};
   if (!file.good()) {

diff --git a/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_message_definition_cache.cpp b/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_message_definition_cache.cpp
@@ -147,3 +147,14 @@ TEST(test_message_definition_cache, get_service_message_definitions)
   ASSERT_EQ(result.first, rosbag2_storage_mcap::internal::Format::MSG);
   ASSERT_EQ(result.second, "\nstring resp\n");
 }
+
+TEST(test_local_message_definition_source, throw_definition_not_found_for_unknown_msg)
+{
+  MessageDefinitionCache source;
+  ASSERT_THROW({ source.get_full_text("rosbag2_test_msgdefs/msg/UnknownMessage"); },
+               rosbag2_storage_mcap::internal::DefinitionNotFoundError);
+
+  // Throw DefinitionNotFoundError for not found message definition package name
+  ASSERT_THROW({ source.get_full_text("not_found_msgdefs_pkg/msg/UnknownMessage"); },
+               rosbag2_storage_mcap::internal::DefinitionNotFoundError);
+}
diff --git a/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp b/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp
@@ -103,7 +103,7 @@ setup_topic_filtering(
   }
 
   for (const auto & [writer, record_options] : output_bags) {
-    rosbag2_transport::TopicFilter topic_filter{record_options};
+    rosbag2_transport::TopicFilter topic_filter{record_options, nullptr, true};
     auto filtered_topics_and_types = topic_filter.filter_topics(input_topics);
 
     // Done filtering - set up writer