Implement action play

README.md

@@ -167,6 +167,8 @@ Options:
   Space-delimited list of topics to play.
 * `--services`:
   Space-delimited list of services to play.
+* `--actions`:
+  Space-delimited list of actions to play.
 * `-e,--regex`:
   Play only topics and services matches with regular expression.
 * `-x,--exclude-regex`:
@@ -175,6 +177,8 @@ Options:
   Space-delimited list of topics not to play.
 * `--exclude-services`:
   Space-delimited list of services not to play.
+* `--exclude-actions`:
+  Space-delimited list of actions not to play.
 * `--message-order {received,sent}`:
   The reference to use for bag message chronological ordering.
   Choices: reception timestamp (`received`), publication timestamp (`sent`).
@@ -282,12 +286,15 @@ output_bags:
   topic_types: []
   all_services: false
   services: []
+  all_actions: false
+  actions: []
   rmw_serialization_format: ""  # defaults to using the format of the input topic
   regex: ""
   exclude_regex: ""
   exclude_topics: []
   exclude_topic_types: []
   exclude_services: []
+  exclude_actions: []
   compression_mode: ""
   compression_format: ""
   compression_queue_size: 1

ros2bag/ros2bag/verb/burst.py

@@ -48,6 +48,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '--services', type=str, default=[], nargs='+',
             help='services to replay, separated by space. At least one service needs to be '
                  "specified. If this parameter isn\'t specified, all services will be replayed.")
+        parser.add_argument(
+            '--actions', type=str, default=[], nargs='+',
+            help='actions to replay, separated by space. At least one action needs to be '
+                 "specified. If this parameter isn\'t specified, all actions will be replayed.")
         parser.add_argument(
             '--qos-profile-overrides-path', type=FileType('r'),
             help='Path to a yaml file defining overrides of the QoS profile for specific topics.')
@@ -97,6 +101,8 @@ def main(self, *, args):  # noqa: D102
         play_options.topics_to_filter = args.topics
         # Convert service name to service event topic name
         play_options.services_to_filter = convert_service_to_service_event_topic(args.services)
+        # Covert action name to action related topic names
+        play_options.actions_to_filter = args.actions
         play_options.topic_qos_profile_overrides = qos_profile_overrides
         play_options.loop = False
         play_options.topic_remapping_options = topic_remapping

ros2bag/ros2bag/verb/info.py

@@ -28,7 +28,8 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         )
         parser.add_argument(
             '-v', '--verbose', action='store_true',
-            help='Display request/response information for services'
+            help='Display verbose information about request/response services, actions and'
+                 ' print messages size contribution on per topic bases.'
         )
         available_sorting_methods = Info().get_sorting_methods()
         parser.add_argument(

ros2bag/ros2bag/verb/play.py

@@ -60,18 +60,24 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--services', type=str, default=[], metavar='service', nargs='+',
             help='Space-delimited list of services to play.')
+        parser.add_argument(
+            '--actions', type=str, default=[], metavar='action', nargs='+',
+            help='Space-delimited list of actions to play.')
         parser.add_argument(
             '-e', '--regex', default='',
-            help='Play only topics and services matches with regular expression.')
+            help='Play only topics, services and actions matches with regular expression.')
         parser.add_argument(
             '-x', '--exclude-regex', default='',
-            help='regular expressions to exclude topics and services from replay.')
+            help='regular expressions to exclude topics, services and actions from replay.')
         parser.add_argument(
             '--exclude-topics', type=str, default=[], metavar='topic', nargs='+',
             help='Space-delimited list of topics not to play.')
         parser.add_argument(
             '--exclude-services', type=str, default=[], metavar='service', nargs='+',
             help='Space-delimited list of services not to play.')
+        parser.add_argument(
+            '--exclude-actions', type=str, default=[], metavar='action', nargs='+',
+            help='Space-delimited list of actions not to play.')
         parser.add_argument(
             '--qos-profile-overrides-path', type=FileType('r'),
             help='Path to a yaml file defining overrides of the QoS profile for specific topics.')
@@ -162,12 +168,20 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--publish-service-requests', action='store_true', default=False,
             help='Publish recorded service requests instead of recorded service events')
+        parser.add_argument(
+            '--send-actions-as-client', action='store_true', default=False,
+            help='Send the send_goal request, cancel_goal request, and get_result request '
+                 'respectively based on the recorded send_goal, cancel_goal, and get_result '
+                 'event messages. Note that the messages from action\'s "status topic" and '
+                 '"feedback topic" will not be sent because they are expected to be sent from '
+                 'the action server side.')
         parser.add_argument(
             '--service-requests-source', default='service_introspection',
             choices=['service_introspection', 'client_introspection'],
             help='Determine the source of the service requests to be replayed. This option only '
-                 'makes sense if the "--publish-service-requests" option is set. By default,'
-                 ' the service requests replaying from recorded service introspection message.')
+                 'makes sense if the "--publish-service-requests" or "--send-actions-as-client" '
+                 'option is set. By default, the service requests replaying from recorded '
+                 'service introspection message.')
         parser.add_argument(
             '--message-order', default='received',
             choices=['received', 'sent'],
@@ -271,13 +285,18 @@ def main(self, *, args):  # noqa: D102
         # Convert service name to service event topic name
         play_options.services_to_filter = convert_service_to_service_event_topic(args.services)
 
+        play_options.actions_to_filter = args.actions
+
         play_options.regex_to_filter = args.regex
 
         play_options.exclude_regex_to_filter = args.exclude_regex
 
         play_options.exclude_service_events_to_filter = \
             convert_service_to_service_event_topic(args.exclude_services)
 
+        play_options.exclude_actions_to_filter = \
+            args.exclude_actions if args.exclude_actions else []
+
         play_options.topic_qos_profile_overrides = qos_profile_overrides
         play_options.loop = args.loop
         play_options.topic_remapping_options = topic_remapping
@@ -299,6 +318,7 @@ def main(self, *, args):  # noqa: D102
         play_options.wait_acked_timeout = args.wait_for_all_acked
         play_options.disable_loan_message = args.disable_loan_message
         play_options.publish_service_requests = args.publish_service_requests
+        play_options.send_actions_as_client = args.send_actions_as_client
         if not args.service_requests_source or \
                 args.service_requests_source == 'service_introspection':
             play_options.service_requests_source = ServiceRequestsSource.SERVICE_INTROSPECTION

ros2bag/ros2bag/verb/record.py

@@ -70,27 +70,34 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
     parser.add_argument(
         '--services', type=str, metavar='ServiceName', nargs='+',
         help='Space-delimited list of services to record.')
+    parser.add_argument(
+        '--actions', type=str, metavar='ActionName', nargs='+',
+        help='Space-delimited list of actions to record.')
     parser.add_argument(
         '--topic-types', nargs='+', default=[], metavar='TopicType',
         help='Space-delimited list of topic types to record.')
     parser.add_argument(
         '-a', '--all', action='store_true',
-        help='Record all topics and services (Exclude hidden topic).')
+        help='Record all topics, services and actions (Exclude hidden topic).')
     parser.add_argument(
         '--all-topics', action='store_true',
         help='Record all topics (Exclude hidden topic).')
     parser.add_argument(
         '--all-services', action='store_true',
         help='Record all services via service event topics.')
+    parser.add_argument(
+        '--all-actions', action='store_true',
+        help='Record all actions via internal topics and service event topics.')
     parser.add_argument(
         '-e', '--regex', default='',
         help='Record only topics and services containing provided regular expression. '
-             'Note:  --all, --all-topics or --all-services will override --regex.')
+             'Note:  --all, --all-topics, --all-services or --all-actions will override --regex.')
     parser.add_argument(
         '--exclude-regex', default='',
         help='Exclude topics and services containing provided regular expression. '
              'Works on top of '
-             '--all, --all-topics, --all-services, --topics, --services or --regex.')
+             '--all, --all-topics, --all-services, --all-actions, --topics, --services, --actions '
+             'or --regex.')
     parser.add_argument(
         '--exclude-topic-types', type=str, default=[], metavar='ExcludeTopicTypes', nargs='+',
         help='Space-delimited list of topic types not being recorded. '
@@ -103,6 +110,10 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
         '--exclude-services', type=str, metavar='ServiceName', nargs='+',
         help='Space-delimited list of services not being recorded. '
              'Works on top of --all, --all-services, --services or --regex.')
+    parser.add_argument(
+        '--exclude-actions', type=str, metavar='ActionName', nargs='+',
+        help='Space-delimited list of actions not being recorded. '
+             'Works on top of --all, --all-actions, --actions or --regex.')
 
     # Discovery behavior
     parser.add_argument(
@@ -217,10 +228,11 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
 
 
 def check_necessary_argument(args):
-    # At least one options out of --all, --all-topics, --all-services, --services, --topics,
-    # --topic-types or --regex must be used
-    if not (args.all or args.all_topics or args.all_services or
+    # At least one options out of --all, --all-topics, --all-services, --all-actions, --services,
+    # --actions --topics, --topic-types or --regex must be used
+    if not (args.all or args.all_topics or args.all_services or args.all_actions or
             (args.services and len(args.services) > 0) or
+            (args.actions and len(args.actions) > 0) or
             (args.topics and len(args.topics) > 0) or
             (args.topic_types and len(args.topic_types) > 0) or args.regex):
         return False
@@ -239,9 +251,9 @@ def validate_parsed_arguments(args, uri) -> str:
 
     if args.exclude_regex and not \
             (args.all or args.all_topics or args.topic_types or args.all_services or
-             args.regex):
+             args.all_actions or args.regex):
         return print_error('--exclude-regex argument requires either --all, '
-                           '--all-topics, --topic-types, --all-services or --regex')
+                           '--all-topics, --topic-types, --all-services, --all-actions or --regex')
 
     if args.exclude_topics and not \
             (args.all or args.all_topics or args.topic_types or args.regex):
@@ -257,14 +269,22 @@ def validate_parsed_arguments(args, uri) -> str:
         return print_error('--exclude-services argument requires either --all, --all-services '
                            'or --regex')
 
+    if args.exclude_actions and not (args.all or args.all_actions or args.regex):
+        return print_error('--exclude-actions argument requires either --all, --all-actions '
+                           'or --regex')
+
     if (args.all or args.all_services) and args.services:
         print(print_warn('--all or --all-services will override --services'))
 
     if (args.all or args.all_topics) and args.topics:
         print(print_warn('--all or --all-topics will override --topics'))
 
-    if (args.all or args.all_topics or args.all_services) and args.regex:
-        print(print_warn('--all, --all-topics or --all-services will override --regex'))
+    if (args.all or args.all_actions) and args.actions:
+        print(print_warn('--all or --all-actions will override --actions'))
+
+    if (args.all or args.all_topics or args.all_services or args.all_actions) and args.regex:
+        print(print_warn('--all, --all-topics --all-services or --all-actions will override '
+                         '--regex'))
 
     if os.path.isdir(uri):
         return print_error("Output folder '{}' already exists.".format(uri))
@@ -281,6 +301,8 @@ def validate_parsed_arguments(args, uri) -> str:
     if args.compression_queue_size < 0:
         return print_error('Compression queue size must be at least 0.')
 
+    return None
+
 
 class RecordVerb(VerbExtension):
     """Record ROS data to a bag."""
@@ -330,11 +352,14 @@ def main(self, *, args):  # noqa: D102
         record_options = RecordOptions()
         record_options.all_topics = args.all_topics or args.all
         record_options.all_services = args.all_services or args.all
+        record_options.all_actions = args.all_actions or args.all
         record_options.is_discovery_disabled = args.no_discovery
         record_options.topics = args.topics
         record_options.topic_types = args.topic_types
         # Convert service name to service event topic name
         record_options.services = convert_service_to_service_event_topic(args.services)
+        record_options.actions = args.actions if args.actions else []
+
         record_options.exclude_topic_types = args.exclude_topic_types
         record_options.rmw_serialization_format = args.serialization_format
         record_options.topic_polling_interval = datetime.timedelta(
@@ -344,6 +369,7 @@ def main(self, *, args):  # noqa: D102
         record_options.exclude_topics = args.exclude_topics if args.exclude_topics else []
         record_options.exclude_service_events = \
             convert_service_to_service_event_topic(args.exclude_services)
+        record_options.exclude_actions = args.exclude_actions if args.exclude_actions else []
         record_options.node_prefix = NODE_NAME_PREFIX
         record_options.compression_mode = args.compression_mode
         record_options.compression_format = args.compression_format