[jazzy] Add optional '--topics' CLI argument for 'ros2 bag record' (backport #1632)

[mergify]

Motivation:

• This is a follow-up from the [WIP] Bugfix for "--topics/--services cannot work without extra option before bag file path" #1629 (comment)
• TLDR: if one wants to specify a list of services and list of topics for recording, the CLI command should be

ros2 bag record --services service1 service2 -- topic1 topic2 --output path/to/bag

It works currently, if put a trailing -- after the list of services. However, that workaround with trailing -- is not obvious and could cause confusion and be a source of mistakes because the topics parameter can't be specified explicitly. i.e., --topics.

List of changes:

• Add optional "--topics" parameter for the ros2 bag record CLI interface.
• Deprecate the positional "topics" parameter to be consistent with the"--services" parameter.
• Add test coverage for non-trivial cases in the recorder CLI parser.
• Use the optional "--topics" parameter instead of the deprecated positional parameter in integration tests.

Note: There are no API/ABI breaking changes in this PR

---

This is an automatic backport of pull request #1632 done by Mergify.

[MichaelOrlov]

Pulls: #1640
Gist: https://gist.githubusercontent.com/MichaelOrlov/6064888ce6dfdadf7910830d1a840b91/raw/1d8c7bc245e989a2fdbcc53085adabf184cb000a/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_tests
TEST args: --packages-above ros2bag rosbag2_tests
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/13824

• Linux
• Linux-aarch64
• Windows

[clalancette]

Since there are no API or ABI breaks here, I'm going to suggest that we hold off on merging this.

Actually, that may argue that we never merge this into Jazzy (because adding in a deprecation warning into a stable distribution isn't something we usually do).

@marcoag Thoughts from you?

[MichaelOrlov]

@clalancette @marcoag I would prefer to merge this PR to Jazzy sooner rather than later since it will improve user experience is well covered by tests, and is pretty safe, IMO. However, would like to get your approval or opinion beforehand.

[marcoag]

If we can merge this without the warning later on, I would lean on holding off and doing it later.

[MichaelOrlov]

@marcoag The deprecation warning is very important for a new release. Otherwise, we will have to wait for one more release to be able to deprecate the positional argument.

[MichaelOrlov]

Update:

• On today's ROS 2 synch meeting we decided to wait and not merge this PR to the Jazzy branch until a final release.
• When the code freeze on the Jazzy branch is lifted, we can merge this PR. However, we shall remove the deprecation warning.

[MichaelOrlov]

Re-run CI after removing deprecation warning.
Building on the built-in node in workspace /var/lib/jenkins/jobs/ci_launcher/workspace

• Linux
• Linux-aarch64
• Windows

[MichaelOrlov]

Re-run CI after rebase
Pulls: #1640
Gist: https://gist.githubusercontent.com/MichaelOrlov/f8e6efbcd7f2b6bdb93528db97409a70/raw/1160fd6a3169df06fc39eef0484a4d85ff3fed4b/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_tests
TEST args: --packages-above ros2bag rosbag2_tests
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/13951

• Linux
• Linux-aarch64
• Windows