Progress-bar for ros2 bag play

docs/design/rosbag2_record_replay_service.md

@@ -150,6 +150,10 @@ Added or changed parameters:
 
     Rename from `--exclude`. Exclude topics and services containing provided regular expression.
 
+- `--progress-bar [ProgressBarFrequency]`
+
+    Print a progress bar of the playback player at a specific frequency in Hz. Negative values mark an update for every published message, while a zero value disables the progress bar. Default to a positive low value. 
+
 `-e REGEX, --regex REGEX` affects both topics and services.
 
 ## Implementation Staging

ros2bag/ros2bag/verb/play.py

@@ -181,6 +181,23 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '--log-level', type=str, default='info',
             choices=['debug', 'info', 'warn', 'error', 'fatal'],
             help='Logging level.')
+        parser.add_argument(
+            '--progress-bar', type=float, default=3.0,
+            help='Print a progress bar of the playback player at a specific frequency in Hz. '
+                 'Default is %(default)d. '
+                 'Negative values mark an update for every published message, while '
+                 ' a zero value disables the progress bar.',
+            metavar='PROGRESS_BAR_FREQUENCY')
+        parser.add_argument(
+            '--progress-bar-separation-lines', type=check_not_negative_int, default=2,
+            help='Number of lines to separate the progress bar from the rest of the '
+                 'playback player output. Negative values are invalid. Default is %(default)d. '
+                 'This option makes sense only if the progress bar is enabled. '
+                 'Large values are useful if external log messages from other nodes are shorter '
+                 'than the progress bar string and are printed at a rate higher than the '
+                 'progress bar update rate. In these cases, a larger value will avoid '
+                 'the external log message to be mixed with the progress bar string.',
+            metavar='SEPARATION_LINES')
 
     def get_playback_until_from_arg_group(self, playback_until_sec, playback_until_nsec) -> int:
         nano_scale = 1000 * 1000 * 1000
@@ -292,6 +309,9 @@ def main(self, *, args):  # noqa: D102
             'sent': MessageOrder.SENT_TIMESTAMP,
         }.get(args.message_order)
 
+        play_options.progress_bar_update_rate = args.progress_bar
+        play_options.progress_bar_separation_lines = args.progress_bar_separation_lines
+
         player = Player(args.log_level)
         try:
             player.play(storage_options, play_options)

rosbag2_py/rosbag2_py/_transport.pyi

@@ -34,6 +34,8 @@ class PlayOptions:
     node_prefix: str
     playback_duration: float
     playback_until_timestamp: int
+    progress_bar_separation_lines: int
+    progress_bar_update_rate: float
     publish_service_requests: bool
     rate: float
     read_ahead_queue_size: int

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -556,6 +556,8 @@ PYBIND11_MODULE(_transport, m) {
     "playback_until_timestamp",
     &PlayOptions::getPlaybackUntilTimestamp,
     &PlayOptions::setPlaybackUntilTimestamp)
+  .def_readwrite("progress_bar_update_rate", &PlayOptions::progress_bar_update_rate)
+  .def_readwrite("progress_bar_separation_lines", &PlayOptions::progress_bar_separation_lines)
   .def_readwrite("wait_acked_timeout", &PlayOptions::wait_acked_timeout)
   .def_readwrite("disable_loan_message", &PlayOptions::disable_loan_message)
   .def_readwrite("publish_service_requests", &PlayOptions::publish_service_requests)

rosbag2_transport/include/rosbag2_transport/play_options.hpp

@@ -137,6 +137,13 @@ struct PlayOptions
   // replayed messages may not be correctly ordered. A possible solution could be to increase the
   // read_ahead_queue_size value to buffer (and order) more messages.
   MessageOrder message_order = MessageOrder::RECEIVED_TIMESTAMP;
+
+  // Rate in Hz at which to print progress bar.
+  double progress_bar_update_rate = 3.0;
+
+  // Number of separation lines to print in between the playback output
+  // and the progress bar.
+  int progress_bar_separation_lines = 3;
 };
 
 }  // namespace rosbag2_transport

rosbag2_transport/src/rosbag2_transport/play_options.cpp

@@ -59,6 +59,9 @@ Node convert<rosbag2_transport::PlayOptions>::encode(
 
   node["disable_loan_message"] = play_options.disable_loan_message;
 
+  node["progress_bar_update_rate"] = play_options.progress_bar_update_rate;
+  node["progress_bar_separation_lines"] = play_options.progress_bar_separation_lines;
+
   return node;
 }
 
@@ -114,6 +117,12 @@ bool convert<rosbag2_transport::PlayOptions>::decode(
 
   optional_assign<bool>(node, "disable_loan_message", play_options.disable_loan_message);
 
+  optional_assign<double>(
+    node, "progress_bar_update_rate", play_options.progress_bar_update_rate);
+
+  optional_assign<int>(
+    node, "progress_bar_separation_lines", play_options.progress_bar_separation_lines);
+
   return true;
 }