Currently when the disk is full a ROS_ERROR message is sent, writing is disabled (see https://github.com/ros/ros_comm/blob/melodic-devel/tools/rosbag/src/recorder.cpp#L649-L651). The problem is that the recording thread does not exit in that case.

This changes the behavior:

• If disk is below the minimum an exception is thrown
• The exception is catched in the recording thread
• The recording thread exits with an error code (1)
• The run member functions joins the recording thread and return the exit code

From a user perspective now you can run:

if (!recorder->run())
  // Handle the fact that we cannot record anymore

Note: in doRecordSnapshotter no disk space checking is done, I did not add it.