Remove rcpputils::fs dependencies from rosbag2 packages

- Added own rosbag2_test_common::create_temp_directory(..) function in
replacement of the analog from the rcpputils::fs.

Signed-off-by: Michael Orlov <[email protected]>

rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp

@@ -26,7 +26,6 @@
 
 #include "rosbag2_storage/bag_metadata.hpp"
 #include "rosbag2_storage/metadata_io.hpp"
-#include "rosbag2_storage/ros_helper.hpp"
 #include "rosbag2_storage/topic_metadata.hpp"
 
 #include "rosbag2_test_common/tested_storage_ids.hpp"
@@ -251,7 +250,7 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, reader_accepts_bare_file) {
 }
 
 TEST_P(ParametrizedTemporaryDirectoryFixture, get_metadata_include_topics_with_zero_messages) {
-  const auto bag_path = rcpputils::fs::path(temporary_dir_path_) / "bag_with_no_msgs";
+  const auto bag_path = fs::path(temporary_dir_path_) / "bag_with_no_msgs";
   const std::string topic_name = "topic_with_0_messages";
   const auto storage_id = GetParam();
   {

rosbag2_test_common/include/rosbag2_test_common/temporary_directory_fixture.hpp

@@ -17,26 +17,72 @@
 
 #include <gmock/gmock.h>
 
+#include <cstdio>
+#include <exception>
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <random>
+#include <sstream>
 #include <string>
 
-#include "rcpputils/filesystem_helper.hpp"
-
 using namespace ::testing;  // NOLINT
 
 namespace rosbag2_test_common
 {
 
+/// \brief Construct a uniquely named temporary directory, in "parent", with format base_nameXXXXXX
+/// The output, if successful, is guaranteed to be a newly-created directory.
+/// The underlying implementation keeps generating paths until one that does not exist is found or
+/// until the number of iterations exceeded the maximum tries.
+/// This guarantees that there will be no existing files in the returned directory.
+/// \param[in] base_name User-specified portion of the created directory.
+/// \param[in] parent_path The parent path of the directory that will be created.
+/// \param[in] max_tries The maximum number of tries to find a unique directory (default 1000)
+/// \return A path to a newly-created directory with base_name and a 6-character unique suffix.
+/// \throws std::system_error If any OS APIs do not succeed.
+/// \throws std::runtime_error If the number of the iterations exceeds the maximum tries and
+/// a unique directory is not found.
+std::filesystem::path create_temp_directory(
+  const std::string & base_name,
+  std::filesystem::path parent_path = std::filesystem::temp_directory_path(),
+  size_t max_tries = 1000)
+{
+  // mersenne twister random generator engine seeded with the std::random_device
+  std::mt19937 random_generator(std::random_device{}());
+  std::uniform_int_distribution<> distribution(0, 999999);
+  std::filesystem::path path_to_temp_dir;
+  constexpr size_t kSuffixLength = 7;  // 6 chars + 1 null terminator
+  char random_suffix_str[kSuffixLength];
+  size_t current_iteration = 0;
+  while (true) {
+    snprintf(random_suffix_str, kSuffixLength, "%06x", distribution(random_generator));
+    const std::string random_dir_name = base_name + random_suffix_str;
+    path_to_temp_dir = parent_path / random_dir_name;
+    // true if the directory was newly created.
+    if (std::filesystem::create_directory(path_to_temp_dir)) {
+      break;
+    }
+    if (current_iteration == max_tries) {
+      throw std::runtime_error(
+        "Exceeded maximum allowed iterations to find non-existing directory");
+    }
+    current_iteration++;
+  }
+  return path_to_temp_dir;
+}
+
 class TemporaryDirectoryFixture : public Test
 {
 public:
   TemporaryDirectoryFixture()
   {
-    temporary_dir_path_ = rcpputils::fs::create_temp_directory("tmp_test_dir_").string();
+    temporary_dir_path_ = create_temp_directory("tmp_test_dir_").string();
   }
 
   ~TemporaryDirectoryFixture() override
   {
-    rcpputils::fs::remove_all(rcpputils::fs::path(temporary_dir_path_));
+    std::filesystem::remove_all(std::filesystem::path(temporary_dir_path_));
   }
 
   std::string temporary_dir_path_;

rosbag2_transport/test/rosbag2_transport/test_rewrite.cpp

@@ -19,6 +19,7 @@
 #include <vector>
 #include <utility>
 
+#include "rosbag2_test_common/temporary_directory_fixture.hpp"
 #include "rosbag2_test_common/tested_storage_ids.hpp"
 #include "rosbag2_transport/bag_rewrite.hpp"
 #include "rosbag2_transport/reader_writer_factory.hpp"
@@ -53,8 +54,7 @@ class TestRewrite : public Test, public WithParamInterface<std::string>
 public:
   TestRewrite()
   {
-    auto tmp_dir = rcpputils::fs::create_temp_directory("test_bag_rewrite");
-    output_dir_ = fs::path(tmp_dir.string());
+    output_dir_ = rosbag2_test_common::create_temp_directory("test_bag_rewrite");
     storage_id_ = GetParam();
     bags_path_ = fs::path(_SRC_RESOURCES_DIR_PATH) / storage_id_;
   }