fix(rosbag): default storage format sqlite3 -> mcap

[mfaferek93]

Summary

• Default rosbag storage format changed from sqlite3 to mcap
• rosbag2_storage_mcap promoted from <test_depend> to <depend> in package.xml
• Storage format validation now tests any format uniformly instead of assuming sqlite3 is always available

On Jazzy/Noble the rosbag2_storage_default_plugins package only ships the mcap plugin. The rosbag2_storage_sqlite3 package is not available, causing rosbag capture and integration tests to fail on the buildfarm (build #2).

Closes #251

Test plan

• Verify buildfarm build passes with mcap as default
• Test with explicit snapshots.rosbag.format: sqlite3 on a system where sqlite3 plugin is installed
• Run integration tests locally

[Copilot]

Pull request overview

Updates the fault manager’s rosbag snapshot capture defaults to use MCAP storage by default, aligning runtime behavior with ROS 2 Jazzy/Noble packaging where only the MCAP storage plugin is shipped by default.

Changes:

• Switch default rosbag storage format from sqlite3 to mcap (both in config struct default and declared ROS parameter default).
• Promote rosbag2_storage_mcap from a test-only dependency to a runtime dependency.
• Change storage-format validation to probe plugin availability by opening a test bag for the selected format (instead of assuming sqlite3 is always present).

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.

File	Description
src/ros2_medkit_fault_manager/src/rosbag_capture.cpp	Validates selected storage format by attempting to open a test bag with the requested storage plugin.
src/ros2_medkit_fault_manager/src/fault_manager_node.cpp	Changes default snapshots.rosbag.format parameter from sqlite3 to mcap.
src/ros2_medkit_fault_manager/package.xml	Adds rosbag2_storage_mcap as a runtime dependency (removes it from test deps).
src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/snapshot_capture.hpp	Changes RosbagConfig::format default to mcap and updates the comment accordingly.

Comments suppressed due to low confidence (1)

src/ros2_medkit_fault_manager/src/rosbag_capture.cpp:703

• The catch block always reports that the storage format is "not available", but Writer::open() can also fail for non-plugin reasons (e.g., temp dir permissions, existing path collisions). Consider using a more unique temp path (timestamp/random + pid and/or remove_any existing path before open), and adjust the error text to include the test path / underlying failure so it doesn’t incorrectly imply a missing plugin.

  std::string test_path =
      std::filesystem::temp_directory_path().string() + "/.rosbag_format_test_" + std::to_string(getpid());

  try {
    rosbag2_cpp::Writer writer;
    rosbag2_storage::StorageOptions opts;
    opts.uri = test_path;
    opts.storage_id = config_.format;
    writer.open(opts);
    // Success - plugin is available
  } catch (const std::exception & e) {
    // Clean up any partial test files
    std::error_code ec;
    std::filesystem::remove_all(test_path, ec);

    throw std::runtime_error(
        "Rosbag storage format '" + config_.format +
        "' is not available. "
        "Install the plugin or use a different format. "
        "Error: " +
        std::string(e.what()));

[Copilot]

Pull request overview

Copilot reviewed 6 out of 6 changed files in this pull request and generated no new comments.

Comments suppressed due to low confidence (2)

src/ros2_medkit_fault_manager/src/rosbag_capture.cpp:684

• validate_storage_format() uses a fixed temp test_path based only on PID. If multiple RosbagCapture instances validate concurrently within the same process (e.g., composed nodes or multi-threaded startup), they can race on the same path and cause flaky failures or partial cleanup. Consider incorporating additional uniqueness (timestamp + thread id / random suffix) and building the path with std::filesystem::path to avoid collisions.

  // Verify the selected storage plugin is available by trying to create a test bag
  std::string test_path =
      std::filesystem::temp_directory_path().string() + "/.rosbag_format_test_" + std::to_string(getpid());

src/ros2_medkit_fault_manager/test/test_rosbag_capture.cpp:301

• The change makes sqlite3 format validation depend on plugin availability (by attempting to open the writer), but the unit tests no longer exercise the sqlite3 path at all. Add a robust test that covers format="sqlite3" and asserts the expected behavior based on whether the plugin can be opened on the current system (e.g., detect availability first, then expect throw vs no-throw), so this regression stays covered across distros.

// Format tests

TEST_F(RosbagCaptureTest, McapFormatAccepted) {
  auto rosbag_config = create_rosbag_config();
  rosbag_config.format = "mcap";
  auto snapshot_config = create_snapshot_config();
  EXPECT_NO_THROW(RosbagCapture(node_.get(), storage_.get(), rosbag_config, snapshot_config));
}