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

src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/snapshot_capture.hpp

@@ -51,8 +51,8 @@ struct RosbagConfig {
   /// If false (default), ring buffer runs continuously from startup
   bool lazy_start{false};
 
-  /// Storage format: "sqlite3" or "mcap"
-  std::string format{"sqlite3"};
+  /// Storage format: "mcap" or "sqlite3"
+  std::string format{"mcap"};
 
   /// Path to store bag files (empty = system temp directory)
   std::string storage_path;

src/ros2_medkit_fault_manager/package.xml

@@ -17,6 +17,7 @@
   <depend>nlohmann-json-dev</depend>
   <depend>rosbag2_cpp</depend>
   <depend>rosbag2_storage</depend>
+  <depend>rosbag2_storage_mcap</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
@@ -27,7 +28,6 @@
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>sensor_msgs</test_depend>
   <test_depend>std_msgs</test_depend>
-  <test_depend>rosbag2_storage_mcap</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/ros2_medkit_fault_manager/src/fault_manager_node.cpp

@@ -643,7 +643,7 @@ SnapshotConfig FaultManagerNode::create_snapshot_config() {
         declare_parameter<std::vector<std::string>>("snapshots.rosbag.exclude_topics", std::vector<std::string>{});
 
     config.rosbag.lazy_start = declare_parameter<bool>("snapshots.rosbag.lazy_start", false);
-    config.rosbag.format = declare_parameter<std::string>("snapshots.rosbag.format", "sqlite3");
+    config.rosbag.format = declare_parameter<std::string>("snapshots.rosbag.format", "mcap");
     config.rosbag.storage_path = declare_parameter<std::string>("snapshots.rosbag.storage_path", "");
 
     int64_t max_bag_size = declare_parameter<int64_t>("snapshots.rosbag.max_bag_size_mb", 50);

src/ros2_medkit_fault_manager/src/rosbag_capture.cpp

@@ -679,42 +679,34 @@ void RosbagCapture::validate_storage_format() const {
                              "Valid options: 'sqlite3', 'mcap'");
   }
 
-  // sqlite3 is always available (built into rosbag2)
-  if (config_.format == "sqlite3") {
-    return;
-  }
-
-  // For MCAP, verify the plugin is available by trying to create a test bag
-  if (config_.format == "mcap") {
-    std::string test_path =
-        std::filesystem::temp_directory_path().string() + "/.rosbag_mcap_test_" + std::to_string(getpid());
-
-    try {
-      rosbag2_cpp::Writer writer;
-      rosbag2_storage::StorageOptions opts;
-      opts.uri = test_path;
-      opts.storage_id = "mcap";
-      writer.open(opts);
-      // Success - plugin is available, clean up test file
-    } 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(
-          "MCAP storage format requested but rosbag2_storage_mcap plugin is not available. "
-          "Install with: sudo apt install ros-${ROS_DISTRO}-rosbag2-storage-mcap "
-          "Or use format: 'sqlite3' (default). "
-          "Error: " +
-          std::string(e.what()));
-    }
+  // 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());
 
-    // Clean up test file
+  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);
 
-    RCLCPP_INFO(node_->get_logger(), "MCAP storage format validated successfully");
+    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()));
   }
+
+  // Clean up test file
+  std::error_code ec;
+  std::filesystem::remove_all(test_path, ec);
+
+  RCLCPP_INFO(node_->get_logger(), "%s storage format validated successfully", config_.format.c_str());
 }
 
 }  // namespace ros2_medkit_fault_manager

src/ros2_medkit_fault_manager/test/test_rosbag_capture.cpp

@@ -58,7 +58,7 @@ class RosbagCaptureTest : public ::testing::Test {
     config.duration_sec = 2.0;
     config.duration_after_sec = 0.5;
     config.topics = "all";
-    config.format = "sqlite3";
+    config.format = "mcap";
     config.storage_path = temp_dir_.string();
     config.max_bag_size_mb = 10;
     config.max_total_storage_mb = 50;
@@ -117,9 +117,9 @@ TEST_F(RosbagCaptureTest, ConstructorThrowsOnInvalidFormat) {
 }
 
 // @verifies REQ_INTEROP_088
-TEST_F(RosbagCaptureTest, ConstructorAcceptsSqlite3Format) {
+TEST_F(RosbagCaptureTest, ConstructorAcceptsMcapFormat) {
   auto rosbag_config = create_rosbag_config();
-  rosbag_config.format = "sqlite3";
+  rosbag_config.format = "mcap";
   auto snapshot_config = create_snapshot_config();
   EXPECT_NO_THROW(RosbagCapture(node_.get(), storage_.get(), rosbag_config, snapshot_config));
 }
@@ -293,19 +293,10 @@ TEST_F(RosbagCaptureTest, CustomStoragePathAccepted) {
 
 // Format tests
 
-TEST_F(RosbagCaptureTest, Sqlite3FormatAccepted) {
-  auto rosbag_config = create_rosbag_config();
-  rosbag_config.format = "sqlite3";
-  auto snapshot_config = create_snapshot_config();
-  EXPECT_NO_THROW(RosbagCapture(node_.get(), storage_.get(), rosbag_config, snapshot_config));
-}
-
 TEST_F(RosbagCaptureTest, McapFormatAccepted) {
   auto rosbag_config = create_rosbag_config();
   rosbag_config.format = "mcap";
   auto snapshot_config = create_snapshot_config();
-  // Note: mcap might not be available in all ROS installations
-  // The constructor should not throw, but actual writing might fail
   EXPECT_NO_THROW(RosbagCapture(node_.get(), storage_.get(), rosbag_config, snapshot_config));
 }
 

src/ros2_medkit_fault_manager/test/test_rosbag_integration.test.py

@@ -160,7 +160,7 @@ def main():
             'snapshots.rosbag.duration_after_sec': 0.5,  # 0.5 second after confirm
             # Use explicit topics - faster than discovery, more reliable for tests
             'snapshots.rosbag.topics': '/test/temperature,/test/status',
-            'snapshots.rosbag.format': 'sqlite3',
+            'snapshots.rosbag.format': 'mcap',
             'snapshots.rosbag.storage_path': ROSBAG_STORAGE_PATH,
             'snapshots.rosbag.max_bag_size_mb': 10,
             'snapshots.rosbag.max_total_storage_mb': 50,
@@ -271,7 +271,7 @@ def test_01_rosbag_created_on_fault_confirmation(self):
         self.assertTrue(rosbag_response.success,
                         f'GetRosbag failed: {rosbag_response.error_message}')
         self.assertGreater(len(rosbag_response.file_path), 0)
-        self.assertEqual(rosbag_response.format, 'sqlite3')
+        self.assertEqual(rosbag_response.format, 'mcap')
         self.assertGreater(rosbag_response.duration_sec, 0)
         self.assertGreater(rosbag_response.size_bytes, 0)