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Merged
troygibb merged 2 commits into from
Jan 30, 2026
Merged

Remove mcap binary #35

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2b9a0b3
Remove mcap dep
troygibb Jan 30, 2026
f5df294
Replace filter utils
troygibb Jan 30, 2026
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2 changes: 0 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,6 @@ project(replay_testing)
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)

include(cmake/install_mcap.cmake)

# Install Python modules and entry points
ament_python_install_package(${PROJECT_NAME}
SCRIPTS_DESTINATION lib/${PROJECT_NAME}
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48 changes: 0 additions & 48 deletions cmake/install_mcap.cmake
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This file was deleted.

49 changes: 32 additions & 17 deletions replay_testing/filter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,23 +13,38 @@
# limitations under the License.
#

import subprocess
import rosbag2_py


def filter_mcap(input, output, output_topics):
command = [
'mcap',
'filter',
input,
'-o',
output,
]

# Filter out topics that will be replayed
for topic in output_topics:
command.extend(['-n', topic])

try:
subprocess.run(command, check=True)
except subprocess.CalledProcessError as e:
print(f'Error filtering {input}: {e}')
"""Filter out specified topics from an mcap file.

Args:
input: Path to input mcap file
output: Path to output mcap file
output_topics: List of topic names to exclude from the output
"""
topics_to_exclude = set(output_topics)

reader = rosbag2_py.SequentialReader()
reader.open(
rosbag2_py.StorageOptions(uri=str(input), storage_id='mcap'),
rosbag2_py.ConverterOptions(input_serialization_format='cdr', output_serialization_format='cdr'),
)

writer = rosbag2_py.SequentialWriter()
writer.open(
rosbag2_py.StorageOptions(uri=output, storage_id='mcap'),
rosbag2_py.ConverterOptions(input_serialization_format='cdr', output_serialization_format='cdr'),
)

# Create topics in writer, excluding filtered ones
for topic_metadata in reader.get_all_topics_and_types():
if topic_metadata.name not in topics_to_exclude:
writer.create_topic(topic_metadata)

# Copy messages, excluding filtered topics
while reader.has_next():
topic_name, data, timestamp = reader.read_next()
if topic_name not in topics_to_exclude:
writer.write(topic_name, data, timestamp)
75 changes: 75 additions & 0 deletions test/test_filter.py
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@@ -0,0 +1,75 @@
# Copyright (c) 2025-present Polymath Robotics, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#

from pathlib import Path

import rosbag2_py

from replay_testing.filter import filter_mcap

FIXTURES_DIR = Path(__file__).parent / 'fixtures'
CMD_VEL_MCAP = FIXTURES_DIR / 'cmd_vel_only.mcap'


def get_mcap_topics(mcap_path: Path) -> list[str]:
"""Get list of topics from an mcap file."""
reader = rosbag2_py.SequentialReader()
reader.open(
rosbag2_py.StorageOptions(uri=str(mcap_path), storage_id='mcap'),
rosbag2_py.ConverterOptions(input_serialization_format='cdr', output_serialization_format='cdr'),
)
return [topic.name for topic in reader.get_all_topics_and_types()]


def test_filter_mcap_creates_output_file(tmp_path):
"""Test that filter_mcap creates an output file."""
output_path = tmp_path / 'filtered.mcap'

filter_mcap(
input=str(CMD_VEL_MCAP),
output=str(output_path),
output_topics=['/vehicle/cmd_vel'],
)

assert output_path.exists()


def test_filter_mcap_preserves_matching_topic(tmp_path):
"""Test that filter_mcap preserves messages matching the filter."""
output_path = tmp_path / 'filtered.mcap'

filter_mcap(
input=str(CMD_VEL_MCAP),
output=str(output_path),
output_topics=['/vehicle/cmd_vel'],
)

topics = get_mcap_topics(output_path)
assert '/vehicle/cmd_vel' not in topics


def test_filter_mcap_empty_topics_creates_empty_mcap(tmp_path):
"""Test that filtering with non-matching topic creates mcap with no messages."""
output_path = tmp_path / 'filtered.mcap'

filter_mcap(
input=str(CMD_VEL_MCAP),
output=str(output_path),
output_topics=['/nonexistent/topic'],
)

assert output_path.exists()
topics = get_mcap_topics(output_path)
assert '/vehicle/cmd_vel' in topics