[C++知识库]rosbag

rosbag 录制命令：

rosbag record -a -o turtle.bag

rosbag 查看命令

rosbag info turtle_2021-08-27-17-24-19.bag

rosbag 回放命令

rosbag play turtle_2021-08-27-17-24-19.bag 

rosbag 写的C++编码实现

#include "ros/ros.h"
#include "rosbag/bag.h"
#include "std_msgs/String.h"
/*
    需求:使用 rosbag 向磁盘文件写出数据(话题+消息)
    流程:
        1.导包
        2,初始化
        3.创建 rosbag 对象
        4.打开文件流
        5.写数据
        6.关闭文件流
*/ 

int main(int argc, char *argv[])
{
    //2,初始化
    setlocale(LC_ALL,"");
    ros::init(argc,argv,"bagW");
    ros::NodeHandle nh;
    // 3.创建 rosbag 对象
    rosbag::Bag bag;
    // 4.打开文件流
    bag.open("hello.bag",rosbag::bagmode::Write);

    // 5.写数据
    std_msgs::String msg ;
    msg.data = "hello xxxxxxx";

    //参数1 话题 参数2 时间辍 参数3 消息
    bag.write("/chatter",ros::Time::now(),msg);

    // 6.关闭文件流
    bag.close();
    return 0;
}

rosbag 读的C++编码实现

#include "ros/ros.h"
#include "rosbag/bag.h"
#include "std_msgs/String.h"
#include "rosbag/view.h"



int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ros::init(argc,argv,"bagR");
    ros::NodeHandle nh;
    rosbag::Bag bag;
    bag.open("hello.bag",rosbag::BagMode::Read);
    //取出话题时间戳消息和内容
    //先获取消息的集合,再迭代取出消息
    for (auto && m : rosbag::View(bag))
    {
        //解析
        std::string topic = m.getTopic();
        ros::Time time = m.getTime();
        std_msgs::StringConstPtr info =  m.instantiate<std_msgs::String>();
        ROS_INFO("topic: %s,时间戳:%.2f,消息:%s",
                    topic.c_str(),
                    time.toSec(),
                    info->data.c_str()
                    );
    }
    
    bag.close();
    return 0;
}

rosbag 写的python编码实现

import rospy
import rosbag
from std_msgs.msg import String

if __name__ == "__main__":
    msg = String()
    msg.data = "hellpython"
    rospy.init_node("bagW")
    bag = rosbag.Bag("hello1.bag",mode='w')
    bag.write("/mywrite",msg)
    bag.write("/mywrite",msg)
    bag.write("/mywrite",msg)
    bag.close()
    pass

rosbag 读的python编码实现

import rospy
import rosbag
from rospy import topics
from std_msgs.msg import String

if __name__ =="__main__":
    rospy.init_node("bagR")
    bag = rosbag.Bag("hello1.bag",mode='r')
    msgs = bag.read_messages()
    for top,index,tim in msgs:
        rospy.loginfo("话题:{},内容{},时间{}".format(top,index,tim))
    bag.close()
    pass