Add compression_threads_priority to the node params parser

Signed-off-by: Michael Orlov <[email protected]>
ros2 · Dec 14, 2023 · b0f0aa2 · b0f0aa2
1 parent ed3d4e4
commit b0f0aa2
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Showing 3 changed files with 6 additions and 0 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp b/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
@@ -235,6 +235,10 @@ RecordOptions get_record_options_from_node_params(rclcpp::Node & node)
     node, "record.compression_threads", 0, std::numeric_limits<int64_t>::max(),
     record_options.compression_threads);
 
+  record_options.compression_threads_priority = param_utils::declare_integer_node_params<int32_t>(
+    node, "record.compression_threads_priority", std::numeric_limits<int32_t>::min(),
+    std::numeric_limits<int32_t>::max(), record_options.compression_threads_priority);
+
   std::string qos_profile_overrides_path =
     node.declare_parameter<std::string>("record.qos_profile_overrides_path", "");
 

diff --git a/rosbag2_transport/test/resources/recorder_node_params.yaml b/rosbag2_transport/test/resources/recorder_node_params.yaml
@@ -18,6 +18,7 @@ recorder_params_node:
       compression_format: "h264"
       compression_queue_size: 10
       compression_threads: 2
+      compression_threads_priority: -1
       qos_profile_overrides_path: ""
       include_hidden_topics: true
       include_unpublished_topics: true

diff --git a/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp b/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
@@ -220,6 +220,7 @@ TEST_P(ComposableRecorderTests, recorder_can_parse_parameters_from_file) {
   EXPECT_EQ(record_options.compression_format, "h264");
   EXPECT_EQ(record_options.compression_queue_size, 10);
   EXPECT_EQ(record_options.compression_threads, 2);
+  EXPECT_EQ(record_options.compression_threads_priority, -1);
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides{
     std::pair{
       "/overrided_topic_qos",