设计：rosbag2 录制与回放 action

背景

本设计描述如何基于当前架构实现该功能，以及如何扩展现有命令参数。

如何录制 action 消息

action 的实现基于三个服务（goal、result、cancel）和两个话题（status、feedback）。对于服务部分，当启用服务自省时，rosbag2 可以通过服务事件话题录制服务数据（参见服务录制与回放设计）。因此，与 action 相关的所有数据均可被录制。

录制一个 action 需要的话题

goal 服务

[NameSpace/]ActionName/_action/send_goal
服务事件话题： [NameSpace/]ActionName/_action/send_goal/_service_event
result 服务

[NameSpace/]ActionName/_action/get_result
服务事件话题： [NameSpace/]ActionName/_action/get_result/_service_event
cancel 服务

[NameSpace/]ActionName/_action/cancel_goal
服务事件话题： [NameSpace/]ActionName/_action/cancel_goal/_service_event
status 话题

[NameSpace/]ActionName/_action/status
feedback 话题

[NameSpace/]ActionName/_action/feedback

对于一个 action，需要录制上述五个相关话题。

扩展 `record` 命令

新增参数：

参数名	描述
—actions ActionName [ActionName …]	要录制的 action 列表，以空格分隔。
—all-actions	通过服务事件话题和隐藏的 action 话题录制所有 action。
—exclude-actions ActionName [ActionName …]	不录制的 action 列表，以空格分隔。在 —all、—all-actions、—actions 或 —regex 的基础上生效。

更新的参数：

参数名	描述
-a, —all	录制所有话题、服务和 action（排除隐藏话题）。
-e REGEX, —regex REGEX	只录制包含给定正则表达式的话题、服务和 action。注意：—all、—all-topics、—all-services 或 —all-actions 会覆盖 —regex。
—exclude-regex EXCLUDE_REGEX	排除包含给定正则表达式的话题、服务和 action。在 —all、—all-topics、—all-services、—all-actions、—topics、—services、—actions 或 —regex 的基础上生效。

更改 `info` 命令的输出

新增 action 相关信息。

不带 -v 或 --verbose 参数时，info 命令的输出示例如下：

    Files:             <bag_name>.mcap
    Bag size:          39.9 KiB
    Storage id:        mcap
    ROS Distro:        rolling
    Duration:          4.835s
    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
    Messages:          39
    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
    Services:          1
    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Event Count: 42 | Serialization Format: cdr
    Actions:           2
    Action information:
      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 1
        Topic: status | Count: 10
        Service: send_goal | Event Count: 20
        Service: cancel_goal | Event Count: 2
        Service: get_result | Event Count: 9
      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 2
        Topic: status | Count: 20
        Service: send_goal | Event Count: 40
        Service: cancel_goal | Event Count: 4
        Service: get_result | Event Count: 9

带 -v 或 --verbose 参数时，info 命令的输出示例如下：

    Files:             <bag_name>.mcap
    Bag size:          39.9 KiB
    Storage id:        mcap
    ROS Distro:        rolling
    Duration:          4.835s
    Start:             Mar 18 2024 16:42:14.323 (1710805334.323)
    End:               Mar 18 2024 16:42:19.159 (1710805339.159)
    Messages:          39
    Topic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
                       Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
                       Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 39 | Serialization Format: cdr
    Services:          1
    Service information: Service: /add_two_ints | Type: example_interfaces/srv/AddTwoInts | Request Count: 20 | Response Count: 22 | Serialization Format: cdr
    Actions:           2
    Action information:
      Action: /fibonacci | Type: action_tutorials_interfaces/action/Fibonacci | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 1
        Topic: status | Count: 10
        Service: send_goal | Request Count: 10 | Response Count: 10
        Service: cancel_goal | Request Count: 1 | Response Count: 1
        Service: get_result | Request Count: 5 | Response Count: 4
      Action: /other | Type: other_action_interfaces/action/Other | Topics: 2 | Services: 3 | Serialization Format: cdr
        Topic: feedback | Count: 2
        Topic: status | Count: 20
        Service: send_goal | Request Count: 20 | Response Count: 20
        Service: cancel_goal | Request Count: 2 | Response Count: 2
        Service: get_result | Request Count: 5 | Response Count: 4

扩展 `play` 命令