fpsdk::ros1::bagwriter::BagWriter Class Reference

ROS1 bag writer helper. More...

#include <bagwriter.hpp>

Public Types
using	RosTime = fpsdk::common::time::RosTime
	Shortcut.

Public Member Functions
bool	Open (const std::string &path, const int compress)
	Open bag for writing.
void	Close ()
	Close bag.
void	WriteMessage (const rosbag::MessageInstance &msg, const std::string &topic="")
	Write a message to the bag, do nothing if no bag is open.
template<typename T >
void	WriteMessage (const T &msg, const std::string &topic, const ros::Time &time={})
	Write a message to the bag, do nothing if no bag is open.
template<typename T >
void	WriteMessage (const T &msg, const std::string &topic, const RosTime &time={})
	Write a message to the bag, do nothing if no bag is open.
void	AddMsgDef (const std::string &topic, const std::string &msg_name, const std::string &msg_md5, const std::string &msg_def)
	Add ROS message definition.
bool	WriteMessage (const std::vector< uint8_t > &data, const std::string &topic, const ros::Time &time={})
	Write raw binary (serialised) message.
bool	WriteMessage (const std::vector< uint8_t > &data, const std::string &topic, const RosTime &time={})
	Write raw binary (serialised) message.

Detailed Description

ROS1 bag writer helper.

Definition at line 47 of file bagwriter.hpp.

Member Typedef Documentation

RosTime

using fpsdk::ros1::bagwriter::BagWriter::RosTime = fpsdk::common::time::RosTime

Shortcut.

Definition at line 99 of file bagwriter.hpp.

Member Function Documentation

Open()

bool fpsdk::ros1::bagwriter::BagWriter::Open	(	const std::string &	path,
		const int	compress )

Open bag for writing.

Parameters

path	Path/filename of the bag file
compress	Compress bag, 0 = no compression, 1 = LZ4, 2+ = BZ2

Returns

true if bag was sucessfully opened

WriteMessage() [1/5]

void fpsdk::ros1::bagwriter::BagWriter::WriteMessage	(	const rosbag::MessageInstance &	msg,
		const std::string &	topic = "" )

Write a message to the bag, do nothing if no bag is open.

Parameters

[in]	msg	The message
[in]	topic	Optional topic name, if not given the original topic name is used

The bag record time of the msg is used in the output bag. This time is stored and used for writing messages that have no time (templated method below).

WriteMessage() [2/5]

template<typename T >

void fpsdk::ros1::bagwriter::BagWriter::WriteMessage ( const T & msg, const std::string & topic, const ros::Time & time = {} )

inline

Write a message to the bag, do nothing if no bag is open.

Template Parameters

T	ROS message type

Parameters

[in]	msg	The message
[in]	topic	Topic name
[in]	time	Optional bag record time, if ros::Time() is given the time from the last written message (see method above) is used

Definition at line 89 of file bagwriter.hpp.

WriteMessage() [3/5]

template<typename T >

void fpsdk::ros1::bagwriter::BagWriter::WriteMessage ( const T & msg, const std::string & topic, const RosTime & time = {} )

inline

Write a message to the bag, do nothing if no bag is open.

Template Parameters

T	ROS message type

Parameters

[in]	msg	The message
[in]	topic	Topic name
[in]	time	Optional bag record time, if ros::Time() is given the time from the last written message (see method above) is used

Definition at line 111 of file bagwriter.hpp.

AddMsgDef()

void fpsdk::ros1::bagwriter::BagWriter::AddMsgDef	(	const std::string &	topic,
		const std::string &	msg_name,
		const std::string &	msg_md5,
		const std::string &	msg_def )

Add ROS message definition.

Note

No checks on the provided data are done!

Parameters

[in]	topic	The topic name
[in]	msg_name	The message name (a.k.a. data type)
[in]	msg_md5	The message MD5 sum
[in]	msg_def	The message definition

WriteMessage() [4/5]

bool fpsdk::ros1::bagwriter::BagWriter::WriteMessage	(	const std::vector< uint8_t > &	data,
		const std::string &	topic,
		const ros::Time &	time = {} )

Write raw binary (serialised) message.

Note

No checks on the provided data are done!

Parameters

[in]	data	The binary message data
[in]	topic	The topic name
[in]	time	Optional bag record time, if not given the time from the last written message is used

Returns

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

WriteMessage() [5/5]

bool fpsdk::ros1::bagwriter::BagWriter::WriteMessage	(	const std::vector< uint8_t > &	data,
		const std::string &	topic,
		const RosTime &	time = {} )

Write raw binary (serialised) message.

Note

No checks on the provided data are done!

Parameters

[in]	data	The binary message data
[in]	topic	The topic name
[in]	time	Optional bag record time, if not given the time from the last written message is used

Returns

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

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

• fpsdk_ros1/include/fpsdk_ros1/bagwriter.hpp