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Add rosbag2 keyboard handler patch #445

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Add rosbag2 keyboard handler patch #445

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38 changes: 38 additions & 0 deletions repositories/patches/rosbag2_keyboard-handler.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,38 @@
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 4d0c2649..aa303b8d 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -95,11 +95,16 @@ Recorder::Recorder(
}

std::string key_str = enum_key_code_to_str(Recorder::kPauseResumeToggleKey);
- toggle_paused_key_callback_handle_ =
- keyboard_handler_->add_key_press_callback(
- [this](KeyboardHandler::KeyCode /*key_code*/,
- KeyboardHandler::KeyModifiers /*key_modifiers*/) {this->toggle_paused();},
- Recorder::kPauseResumeToggleKey);
+ if (keyboard_handler_) {
+ toggle_paused_key_callback_handle_ =
+ keyboard_handler_->add_key_press_callback(
+ [this](KeyboardHandler::KeyCode /*key_code*/,
+ KeyboardHandler::KeyModifiers /*key_modifiers*/) {
+ this->toggle_paused();
+ },
+ Recorder::kPauseResumeToggleKey);
+ }
+
// show instructions
RCLCPP_INFO_STREAM(
get_logger(),
@@ -112,7 +117,10 @@ Recorder::Recorder(

Recorder::~Recorder()
{
- keyboard_handler_->delete_key_press_callback(toggle_paused_key_callback_handle_);
+ if (keyboard_handler_) {
+ keyboard_handler_->delete_key_press_callback(
+ toggle_paused_key_callback_handle_);
+ }
stop();
}

5 changes: 4 additions & 1 deletion repositories/ros2_repositories_impl.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -293,7 +293,10 @@ def ros2_repositories_impl():
name = "ros2_rosbag2",
build_file = "@com_github_mvukov_rules_ros2//repositories:rosbag2.BUILD.bazel",
patch_args = ["-p1"],
patches = ["@com_github_mvukov_rules_ros2//repositories/patches:rosbag2_relax_plugin_errors.patch"],
patches = [
"@com_github_mvukov_rules_ros2//repositories/patches:rosbag2_relax_plugin_errors.patch",
"@com_github_mvukov_rules_ros2//repositories/patches:rosbag2_keyboard-handler.patch",
],
sha256 = "035f4346bdc4bee7b86fed277658bc045b627f5517085fdf3a453285b274ee3c",
strip_prefix = "rosbag2-0.15.13",
url = "https://github.com/ros2/rosbag2/archive/refs/tags/0.15.13.tar.gz",
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