Jazzy: Cannot exclude /tf_static topic from ros2 bag play

[Edwardius]

Description

Attempting to play an mcap bag without the tf_static topic. Our team need this because we have outdated extrinsics in this bag, and so I'd like to rerun the bag with an updated tf_static. This is important for quick integration development/testing because otherwise we'd have to wait for a good day to collect data again.

Expected Behavior

All topics play except for /tf_static.

Actual Behavior

/tf_static does play with the rest of the topics.

To Reproduce

Link to bag: https://drive.google.com/file/d/1c0THVcqTd48UnC8yWh3DbZcbcn7PMgdM/view?usp=sharing (we're a student club so all data is public, no biggie)

ros2 bag play <bag_name> --exclude-topics /tf_static

System (please complete the following information)

• OS: 24.04
• ROS 2 Distro: Jazzy
• Install Method: apt
• Version: jazzy release

Additional context

Note: The /tf_static topic, during recording time, is relayed every 0.5s or so because ros2 bag record does not keep /tf_static in between bag splits. This is a whole other can of worms that I went down, and a fix to it is probably not going to be backported to Jazzy anytime soon.

Linking to #2342 (comment) for exposure :)

[Edwardius]

Doing the opposite and specifying all but /tf_static using the --topics argument works though

[MichaelOrlov]

@Edwardius Can you please provide a smaller file for reproducing the issue?
The file that you linked is 20 GB in size. I am sorry, but it is too large, and I personally don't have the capacity to download it.
We do have some test coverage for the topic filters in unit tests. But they may not cover all use cases.

rosbag2/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_topic_filter.cpp

Lines 347 to 389 in af1dc70

	TEST_F(McapTopicFilterTestFixture, FilterTopicsAndServicesWithBlackListsAndExcludeRegexOnly)
	{
	auto readable_storage = open_test_bag_for_read_only();
	// No topic list, service list and regex.
	// Set excluded topic list, excluded service list and excluded regex
	rosbag2_storage::StorageFilter storage_filter{};
	storage_filter.exclude_topics = {"topic1"};
	storage_filter.exclude_service_events = {"service_topic2/_service_event"};
	storage_filter.regex_to_exclude = "^topic3$";
	readable_storage->set_filter(storage_filter);
	EXPECT_TRUE(readable_storage->has_next());
	auto first_message = readable_storage->read_next();
	EXPECT_THAT(first_message->topic_name, Eq("service_topic1/_service_event"));
	EXPECT_TRUE(readable_storage->has_next());
	auto second_message = readable_storage->read_next();
	EXPECT_THAT(second_message->topic_name, Eq("topic2"));
	EXPECT_FALSE(readable_storage->has_next());
	}
	TEST_F(McapTopicFilterTestFixture, FilterTopicsAndServicesExcludeOverlapsWithIncludeLists)
	{
	auto readable_storage = open_test_bag_for_read_only();
	// Exclude from include lists
	rosbag2_storage::StorageFilter storage_filter{};
	storage_filter.topics = {"topic1", "topic2", "topic3"};
	storage_filter.services_events = {"service_topic1/_service_event",
	"service_topic2/_service_event"};
	storage_filter.exclude_topics = {"topic1"};
	storage_filter.exclude_service_events = {"service_topic2/_service_event"};
	readable_storage->set_filter(storage_filter);
	EXPECT_TRUE(readable_storage->has_next());
	auto first_message = readable_storage->read_next();
	EXPECT_THAT(first_message->topic_name, Eq("service_topic1/_service_event"));
	EXPECT_TRUE(readable_storage->has_next());
	auto second_message = readable_storage->read_next();
	EXPECT_THAT(second_message->topic_name, Eq("topic2"));
	EXPECT_TRUE(readable_storage->has_next());
	auto third_message = readable_storage->read_next();
	EXPECT_THAT(third_message->topic_name, Eq("topic3"));
	EXPECT_FALSE(readable_storage->has_next());
	}

[tonynajjar]

@Edwardius what storage are you using? If it's mcap can't you just filter it out from the bag with 'mcap filter' command?