fpsdk::common::ros2::BagWriter Class Reference

ROS2 bag writer helper. More...

#include <ros2.hpp>

Public Member Functions
bool	Open (const std::string &path, const bool mcap=false, const int compress=0)
	Open bag for writing.
void	Close ()
	Close bag.
template<typename T>
bool	WriteMessage (const T &msg, const std::string &topic, const rclcpp::Time &time)
	Write a message to the bag.
template<typename T>
bool	WriteMessage (const T &msg, const std::string &topic, const common::time::RosTime &time)
	Write a message to the bag.
void	AddMsgDef (const common::fpl::RosMsgDef &rosmsgdef)
	Add ROS message definition from .fpl.
bool	WriteMessage (const common::fpl::RosMsgBin &rosmsgbin)
	Write message from .fpl.

Detailed Description

ROS2 bag writer helper.

Definition at line 99 of file ros2.hpp.

Member Function Documentation

Open()

bool fpsdk::common::ros2::BagWriter::Open	(	const std::string &	path,
		const bool	mcap = false,
		const int	compress = 0 )

Open bag for writing.

Parameters

[in]	path	Path of the bag directory
[in]	mcap	Use mcap instead of sqlite3 format
[in]	compress	Compress bag more (only with mcap = true), 0 = zstd_small, >=1 = zstd_fast, ignored with mcap = false

Returns

true if bag was sucessfully opened

WriteMessage() [1/3]

template<typename T>

bool fpsdk::common::ros2::BagWriter::WriteMessage ( const T & msg, const std::string & topic, const rclcpp::Time & time )

inline

Write a message to the bag.

Template Parameters

T	ROS message type

Parameters

[in]	msg	The message
[in]	topic	Topic name
[in]	time	Bag record time

Returns

true if message was added, false otherwise (message definition missing)

Definition at line 133 of file ros2.hpp.

References WARNING.

Referenced by WriteMessage().

WriteMessage() [2/3]

template<typename T>

bool fpsdk::common::ros2::BagWriter::WriteMessage ( const T & msg, const std::string & topic, const common::time::RosTime & time )

inline

Write a message to the bag.

Template Parameters

T	ROS message type

Parameters

[in]	msg	The message
[in]	topic	Topic name
[in]	time	Bag record time

Definition at line 156 of file ros2.hpp.

References WriteMessage().

AddMsgDef()

void fpsdk::common::ros2::BagWriter::AddMsgDef

(

const common::fpl::RosMsgDef &

rosmsgdef

)

Add ROS message definition from .fpl.

Note

No checks on the provided data are done!

Parameters

[in]

rosmsgdef

The message definition

WriteMessage() [3/3]

bool fpsdk::common::ros2::BagWriter::WriteMessage

(

const common::fpl::RosMsgBin &

rosmsgbin

)

Write message from .fpl.

Note

No checks on the provided data are done!

Parameters

[in]

rosmsgbin

The recorded message

Returns

true if message was added, false otherwise (e.g. ROS1->ROS2 conversion not implemented)

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The documentation for this class was generated from the following file:

• fpsdk_common/include/fpsdk_common/ros2.hpp