Use rclcpp type support helpers in rosbag2_cpp by MichaelOrlov · Pull Request #2017 · ros2/rosbag2

MichaelOrlov · 2025-05-24T22:40:18Z

Description

Historically, the type support helpers were implemented in the rosbag2_cpp/typesupport_helpers.cpp, then the implementation of the major helper functions was added to the core rclcpp package in the rclcpp/typesupport_helpers.hpp.
However, the original implementation was never removed from the rosbag2_cpp package.

This PR replaces original type support helpers in the rosbag2_cpp with the same functions from the core rclcpp package to avoid code duplication and divergences in the future.

Additional information

This PR depends from the Expose typesupport_helpers API needed for the Rosbag2 rclcpp#2858

action-ros-ci-repos-supplemental: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos

rosbag2_cpp/src/rosbag2_cpp/typesupport_helpers.cpp

- Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

fujitatomoya

While adding code for bug fixes and new features is often seen as an enhancement, I believe that reducing code like this is just as important for maintainability 🚀 rosbag2 repository has already so many packages to maintain... 😅

- Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b)

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp

…port #2858) (#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 * Use C++ style in doxygen documentation --------- (cherry picked from commit 448287b) Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

…port ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

Signed-off-by: Michael Orlov <morlovmr@gmail.com>

MichaelOrlov · 2025-07-26T05:24:27Z

Pulls: #2017
Gist: https://gist.githubusercontent.com/MichaelOrlov/709700e35881b1003fde7e42a93393ce/raw/aefba88fd03f32e8cd640d492ca5ae0e5ab9b057/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp rosbag2_transport rosbag2_tests
TEST args: --packages-above rosbag2_cpp rosbag2_transport rosbag2_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16617

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MichaelOrlov · 2025-07-26T17:34:52Z

@christophebedard @fujitatomoya The CI is green, this PR is ready for review.

fujitatomoya

lgtm with green CI

* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (ros2#2841) (ros2#2845) (cherry picked from commit 73e9bfb) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport ros2#2840) (ros2#2851) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added missing chrono includes (ros2#2854) (ros2#2856) (cherry picked from commit 373a63c) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix for memory leaks in rclcpp::SerializedMessage (ros2#2861) (ros2#2864) (cherry picked from commit 8d44b95) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> * Replace std::default_random_engine with std::mt19937 (humble) (ros2#2847) (ros2#2867) (cherry picked from commit a0e2240) Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * 28.1.10 * fix test_publisher_with_system_default_qos. (ros2#2881) (ros2#2883) (cherry picked from commit e6577c6) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Shutdown deadlock fix jazzy (ros2#2887) * fix: Don't deadlock if removing shutdown callbacks in a shutdown callback Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * refactor: Made fix API compatible Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> * Event exec timer fix for ros2#2889 (ros2#2890) Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add overload of `append_parameter_override` (ros2#2891) (ros2#2895) (cherry picked from commit fa0cf2d) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Fujitatomoya/test append parameter override (ros2#2896) (ros2#2900) (cherry picked from commit 84c6fb1) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * [jazzy] Expose `typesupport_helpers` API needed for the Rosbag2 (backport ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> * Add qos parameter for wait_for_message function (ros2#2903) (ros2#2906) (cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Fix `start_type_description_service` param handling (ros2#2897) (ros2#2909) * Fix `start_type_description_service` param handling * Add test * Demonstrate different exceptions depending on node options * Same exact exception and `what()` message in both cases * Uncrustify --------- (cherry picked from commit 4fb558a) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg>

MichaelOrlov · 2025-08-07T21:28:00Z

@ros-pull-request-builder retest this please

MichaelOrlov · 2025-08-07T22:31:57Z

@ros-pull-request-builder retest this please

MichaelOrlov · 2025-08-07T23:21:01Z

https://github.com/Mergifyio backport kilted jazzy

mergify · 2025-08-07T23:21:06Z

backport kilted jazzy

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#2129 Use rclcpp type support helpers in rosbag2_cpp (backport #2017) has been created for branch kilted
#2130 Use rclcpp type support helpers in rosbag2_cpp (backport #2017) has been created for branch jazzy but encountered conflicts

Signed-off-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit bc37cdf)

Signed-off-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit bc37cdf) # Conflicts: # rosbag2_transport/src/rosbag2_transport/topic_filter.cpp

… (#2130) * Use rclcpp typesupport helpers in rosbag2_cpp (#2017) Signed-off-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit bc37cdf) # Conflicts: # rosbag2_transport/src/rosbag2_transport/topic_filter.cpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

(cherry picked from commit bc37cdf) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

christophebedard reviewed May 24, 2025

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rosbag2_cpp/src/rosbag2_cpp/typesupport_helpers.cpp Outdated Show resolved Hide resolved

MichaelOrlov force-pushed the morlov/use-rclcpp-typesupport-helpers branch from 13c68a6 to d7ee56a Compare May 25, 2025 00:16

MichaelOrlov mentioned this pull request May 25, 2025

Expose typesupport_helpers API needed for the Rosbag2 ros2/rclcpp#2858

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fujitatomoya reviewed May 29, 2025

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[kilted] Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) ros2/rclcpp#2901

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[jazzy] Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) ros2/rclcpp#2902

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MichaelOrlov marked this pull request as ready for review July 12, 2025 20:54

MichaelOrlov force-pushed the morlov/use-rclcpp-typesupport-helpers branch from d7ee56a to f03de64 Compare July 24, 2025 00:50

Use rclcpp typesupport helpers in rosbag2_cpp

f2c2631

Signed-off-by: Michael Orlov <morlovmr@gmail.com>

MichaelOrlov force-pushed the morlov/use-rclcpp-typesupport-helpers branch from f03de64 to f2c2631 Compare July 26, 2025 05:21

fujitatomoya approved these changes Jul 27, 2025

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MichaelOrlov merged commit bc37cdf into rolling Aug 7, 2025
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MichaelOrlov deleted the morlov/use-rclcpp-typesupport-helpers branch August 7, 2025 23:20

mergify bot pushed a commit that referenced this pull request Aug 7, 2025

Use rclcpp typesupport helpers in rosbag2_cpp (#2017)

c20c66f

Signed-off-by: Michael Orlov <morlovmr@gmail.com> (cherry picked from commit bc37cdf)

mergify bot mentioned this pull request Aug 7, 2025

[kilted] Use rclcpp type support helpers in rosbag2_cpp (backport #2017) #2129

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mergify bot mentioned this pull request Aug 7, 2025

[jazzy] Use rclcpp type support helpers in rosbag2_cpp (backport #2017) #2130

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MichaelOrlov added a commit that referenced this pull request Sep 16, 2025

Use rclcpp typesupport helpers in rosbag2_cpp (#2017) (#2129)

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(cherry picked from commit bc37cdf) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

This was referenced Sep 22, 2025

extract_type_identifier() does not correctly handle type identifiers with missing package names #2136

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Field splitting logic issue in extract_type_identifier() causing incorrect parsing results #2137

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harrysarson mentioned this pull request Oct 15, 2025

Include of rosbag2/typesupport_helpers.hpp will not work in upcoming rosbag2 release facontidavide/rosx_introspection#23

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marcoag mentioned this pull request Jan 25, 2026

Jazzy 0.26.10 release #2316

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Use rclcpp type support helpers in rosbag2_cpp#2017

Use rclcpp type support helpers in rosbag2_cpp#2017
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