Add support for specifying topics to record

[nkoenig]

A user can specify topics to record from the command line, or programmatically through the ServerConfig.

Use ign gazebo -h to see information about the --record-topic option including example usage.

The ServerConfig functions will be used by ign-launch.

Default logging behavior is persevered if no topics are specified.

Signed-off-by: Nate Koenig nate@openrobotics.org

[chapulina]

I'd suggest adding a test to test/integration/log_system.cc passing the --record-topic option through the command line.

[chapulina]

No action needed on this PR, but just for future reference, we're trying to pass this kind of information to systems through components rather than the SDF now.

[nkoenig]

I'd suggest adding a test to test/integration/log_system.cc passing the --record-topic option through the command line.

Added a test in bd76749

[codecov]

Codecov Report

Merging #315 into ign-gazebo2 will increase coverage by 0.01%.
The diff coverage is 82.60%.

@@               Coverage Diff               @@
##           ign-gazebo2     #315      +/-   ##
===============================================
+ Coverage        78.10%   78.11%   +0.01%     
===============================================
  Files              183      183              
  Lines             9979    10022      +43     
===============================================
+ Hits              7794     7829      +35     
- Misses            2185     2193       +8     

Impacted Files	Coverage Δ
include/ignition/gazebo/ServerConfig.hh	100.00% <ø> (ø)
src/ServerPrivate.cc	88.20% <57.14%> (-2.03%)	⬇️
src/systems/log/LogRecord.cc	82.35% <88.88%> (+0.45%)	⬆️
src/ServerConfig.cc	95.45% <100.00%> (+0.19%)	⬆️
src/ign.cc	68.91% <100.00%> (+0.86%)	⬆️

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[iche033]

Looking at the code, my understanding of the behavior is that if a topic is specified, the other topics necessary to playback a simulation in ign gazebo will not be recorded? So for example:

ign gazebo -r -v 4  --record-topic /clock --record-path "test_log"  log_record_resources.sdf

when playing back the state.tlog file, I see a blank scene in the UI which could be due to missing pose and scene data needed by the client. On the other hand, this simulation playback fine when recording using the cmd below since it records all default topics.

ign gazebo -r -v 4  --record-topic --record-path "test_log"  log_record_resources.sdf

Just want to confirm that's the intended behavior? If so I think it would be useful to offer the ability to record all default topics + the ones specified through --record-topic but that can be addressed later.

[nkoenig]

Looking at the code, my understanding of the behavior is that if a topic is specified, the other topics necessary to playback a simulation in ign gazebo will not be recorded? So for example:

ign gazebo -r -v 4  --record-topic /clock --record-path "test_log"  log_record_resources.sdf

when playing back the state.tlog file, I see a blank scene in the UI which could be due to missing pose and scene data needed by the client. On the other hand, this simulation playback fine when recording using the cmd below since it records all default topics.

ign gazebo -r -v 4  --record-topic --record-path "test_log"  log_record_resources.sdf

Just want to confirm that's the intended behavior? If so I think it would be useful to offer the ability to record all default topics + the ones specified through --record-topic but that can be addressed later.

I changed the behavior to be an add in 990c877.

[iche033]

looks good to me!