ROS 2 Record & Replay - All you need to know

ROS 2 Record & Replay (a.k.a DDS Record & replay) enables users to save and replay DDS data, allowing for better and more accurate testing, debugging & analysis.   

ROS 2 Record & Replay allows users to efficiently save ROS 2 messages published into a DDS environment in an MCAP format and consequently replay such recorded network events due to the linked timestamp when such data was originally published. 

How is this possible? 

All this is possible thanks to a smooth configuration and installation process that counts with a default setup where DDS topics, data types, and entities are automatically discovered without specifying the types of data recorded. 

Latest Features 

Record & Replay Version v0.3.0

New Recording Features: 

• New DDS Recorder suspended (active stopped) state (see remote controller for more details).

New DDS Recorder tool configuration features:

• Support Compression Settings.
• Allow disabling the storage of received types (see Record Types).
• Record data in either ROS 2 format or the raw DDS format (see Topic Type Format).

New DDS Replayer tool configuration features:

• New configuration option (topics) to configure the Manual Topics.
• New configuration option (max-tx-rate) to configure the Max transmission rate.

Record & Replay Features Summary

Recording Features:

• Supports DynamicTypes.
• Supports saves the data in a MCAP database.
• Supports for downsampling that reduces the sampling rate of the received data.
• Supports for buffer-size that indicates the number of samples to be stored in the process memory before the dump to disk.

Replay Features: 

• Supports setting begin and end times (begin-time / end-time).
• Supports setting a replay start time (start-replay-time).

Configuration features: 

• Support YAML configuration file.
• Support for allow and block topic filters at execution time and in run-time.
• Support configuration related to DDS communication.

FOR MORE INFORMATION ABOUT THE LATEST VULCANEXUS RELEASE

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