wrong duration and missing topics/frames after ros2 bag convert

[maxklock]

Description

I have a bagfile and wanted to split it into several files using ros2 bag convert, but the resulting bagfile is not working as expected.

Expected Behavior

I have the original bagfile with a single file of nearly 4GB. With convert I want to split this file into ~500MB parts.
Both, the old and the new bagfile, should behave the same.

Actual Behavior

When I use ros2 bag play on the old bagfile, everything works fine. But when using the new bagfile, i get a lot missing frames and topics.
When inspecting both files with ros2 bag info the topic information and message count is the same, but the duration and start time differs.

To Reproduce

** Steps to reproduce the behavior, e.g.

1. Run ros2 bag play rosbag_origin to validate you have a working bagfile. No erros in the logs and the process in running ~80s.
2. Run ros2 bag convert to modify the bagfile:

ros2 bag convert -i rosbag_origin -o convert.yml
[INFO] [1712645045.805924828] [rosbag2_storage]: Opened database 'rosbag_origin/rosbag_origin_0.db3' for READ_ONLY.
[INFO] [1712645045.810819109] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_0.db3' for READ_WRITE.
[INFO] [1712645047.498534912] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_1.db3' for READ_WRITE.
[INFO] [1712645049.129373085] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_2.db3' for READ_WRITE.
[INFO] [1712645050.516206986] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_3.db3' for READ_WRITE.
[INFO] [1712645051.811610194] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_4.db3' for READ_WRITE.
[INFO] [1712645053.199245268] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_5.db3' for READ_WRITE.
[INFO] [1712645054.700044665] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_6.db3' for READ_WRITE.
[INFO] [1712645056.326892823] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_7.db3' for READ_WRITE.
[INFO] [1712645058.296396332] [rosbag2_storage]: Opened database 'rosbag_convert/rosbag_convert_8.db3' for READ_WRITE.

with convert.yml

output_bags:
  - uri: rosbag_convert
    all: true
    max_bagfile_size: 500000000

3. Run ros2 bag play rosbag_convert, which will end after ~9s. Furthermore, the individual files open within milliseconds.
4. Run ros2 bag info on both files to see different durations and times:

ros2 bag info rosbag_origin
  Files:             rosbag_origin_0.db3
  Bag size:          3.8 GiB
  Storage id:        sqlite3
  Duration:          80.229s
  Start:             Apr  8 2024 10:47:45.72 (1712566065.72)
  End:               Apr  8 2024 10:49:05.301 (1712566145.301)
  Messages:          49329

ros2 bag info rosbag_convert
  Files:             rosbag_convert_0.db3
                     rosbag_convert_1.db3
                     rosbag_convert_2.db3
                     rosbag_convert_3.db3
                     rosbag_convert_4.db3
                     rosbag_convert_5.db3
                     rosbag_convert_6.db3
                     rosbag_convert_7.db3
                     rosbag_convert_8.db3
  Bag size:          3.8 GiB
  Storage id:        sqlite3
  Duration:          9.895s
  Start:             Apr  8 2024 10:49:03.894 (1712566143.894)
  End:               Apr  8 2024 10:49:13.790 (1712566153.790)
  Messages:          49329

System (please complete the following information)

• OS: Ubuntu 22.04
• ROS 2 Distro: Humble
• Install Method: APT
• Version: 0.15.9

Additional context

I've changed the file names in the output - if there are inconsistent names in the output, I'm sorry.
I used apt upgrade to install the latest ros2bag version

[maxklock]

I found a manual workaround to make the bagfile working:

• open metadata.yaml of rosbag_convert
• change duration and starting_time to match the values of rosbag_origin

Afterwards the bagfile is working as expected

[maxklock]

The same issure occures when using max-bag-size during recording. My bagfiles are not working out of the box, due to wrong duration and starting_time. In contrast to the convert, however, I have no reference data to correct the metadata.yaml manually.

[MichaelOrlov]

• @maxklock This issue is likely related to the [Humble] Fix split by time. (backport #1022) #1616

[MichaelOrlov]

• Closing as fixed in the [Humble] Fix split by time. (backport #1022) #1616. Feel free to reopen if the issue still reproduces.