ros1 mcap record and play with roslibrust

[lucasw]

I have the equivalent of rosbag record -a with regular expressions to include/exclude topics, and rosbag play with multiple bags passed in, but for mcaps and written in rust using roslibrust (actually a modified version at https://github.com/lucasw/roslibrust/tree/subscribe_any, I'm working on getting parts of it merged).

The mcap recording has all the basic features (at least the ones I use normally), but playback needs some work to add pausing and playback at different rates.

https://github.com/lucasw/mcap_tools/tree/intersection ('mcap_tools' is too generic and it occurs a few times in other places so possibly I'll rename it)

Performance seems on par with rosbag play/record (but remember to build in release mode), I haven't tested it much but I expect the time to the first messages being published is less than with bags given mcaps open faster.

Record all topics with 'sensors' or 'odom' in them but exclude all with 'image'

mcap_record --regex "(.*)sensors(.*)|(.*)odom(.*)" --exclude "(.*)image(.*)" --outputprefix "data_"

Loop forever while playing back two mcaps:

mcap_play --loop 0 odom.mcap tf.mcap

The mcap need to have a schema encoding of ros1msg and channel message_encoding of ros1 (it would be fantastic if there was a conversion function for protobuf or ros2 messages, though there'd be a performance hit to deserialize and reserialize), and mcap_play works with bags converted with mcap convert the same as those recorded with my mcap_record.

I'll likely add the rosbag record feature to be able to specify a list of exact topics in trailing arguments, but for now the default is to record all and only regex and exclude can narrow those down.