Struct RecordOptions

Struct Documentation

struct RecordOptions

Public Members

bool all_topics = false
bool all_services = false
bool all_actions = false
bool is_discovery_disabled = false
std::vector<std::string> topics
std::vector<std::string> topic_types
std::vector<std::string> services
std::vector<std::string> actions
std::vector<std::string> exclude_topics
std::vector<std::string> exclude_topic_types
std::vector<std::string> exclude_service_events
std::vector<std::string> exclude_actions
std::string rmw_serialization_format
std::string input_serialization_format
std::string output_serialization_format
std::chrono::milliseconds topic_polling_interval = {100}
std::string regex = ""
std::string exclude_regex = ""
std::string node_prefix = ""
std::string compression_mode = ""

Compression mode. Valid values are “file”, “message” or “” (no compression). \Note: To use compression mode “message”, the underlying storage must support this parameter. For mcap storage, need to use specific compression options provided via StorageOptions::storage_config_uri.

std::string compression_format = ""

Compression format. E.g., “zstd”, “bz2”, “lz4”, etc. Shall be used together with compression_mode parameter.

uint64_t compression_queue_size = 0
uint64_t compression_threads = 0

// The number of compression threads

int32_t compression_threads_priority = 0

Compression threads scheduling priority. For Windows the valid values are: THREAD_PRIORITY_LOWEST=-2, THREAD_PRIORITY_BELOW_NORMAL=-1 and THREAD_PRIORITY_NORMAL=0. For POSIX compatible OSes this is the “nice” value. The nice value range is -20 to +19 where -20 is highest, 0 default and +19 is lowest.

std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides = {}

Path to a YAML file containing topic QoS profile overrides. The YAML file must map topic names to rclcpp::QoS profiles.

bool include_hidden_topics = false

Include hidden topics. i.e., starting any token of the name with an underscore.

bool include_unpublished_topics = false

Include unpublished topics. i.e., topics that have no publishers (only subscribers).

bool ignore_leaf_topics = false

Ignore leaf topics. i.e., topics that have no subscribers.

bool start_paused = false

Start recording in paused state if true. \Note This parameter is only used during construction of the Recorder class. To pause or resume an ongoing recording use the pause and resume services or direct public API.

bool use_sim_time = false

Use simulated time (if true).

std::string static_topics_uri = ""

URI of where to read static topics from.

bool disable_keyboard_controls = false

Disable keyboard controls if true. This parameter is only used during construction of the Recorder class to decide whether to initialize KeyboardHandler class or not.

float statistics_max_publishing_rate = 1.0f

Maximum rate in times per second (Hz) at which the statistics about lost messages will be published. If set to 0, no statistics will be published. The value must be greater than or equal to 0 and less than or equal to 1000.