From e90ababa4d8fe08945bf900b24fd8030d9501571 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 23 May 2022 10:20:35 -0400 Subject: [PATCH] rosbag2 zero copy playback and wait for ack option. (#2597) (#2632) Signed-off-by: Tomoya.Fujita (cherry picked from commit 0749ce0ab42c2f052fc0d6e0050604d733c2e68b) Co-authored-by: Tomoya Fujita --- source/Releases/Release-Humble-Hawksbill.rst | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst index 6dca2ac007d..4d33afc1860 100644 --- a/source/Releases/Release-Humble-Hawksbill.rst +++ b/source/Releases/Release-Humble-Hawksbill.rst @@ -838,6 +838,21 @@ With pull request `977 `_, ``rosbag2`` In burst mode, the data is played back as fast as possible. This is useful in applications such as machine learning. +Zero-Copy playback +"""""""""""""""""" + +By default, if loaned message can be used, playback messages are published as loaned message. +This can help to reduce the number of data copies, so there is a greater benefit for sending big data. +Pull request `981 `_ adds ``--disable-loan-message`` option for playback. + +Wait for an acknowledgment +"""""""""""""""""""""""""" + +This new option will wait until all published messages are acknowledged by all subscribers or until the timeout elapses in millisecond before play is terminated. +Especially for the case of sending message with big size in a short time. +This option is valid only if the publisher's QOS profile is RELIABLE. +Pull request `951 `_ adds ``--wait-for-all-acked`` option for playback. + Bag editing """""""""""