Repository Summary

Checkout URI	https://github.com/MetroRobots/classic_bags.git
VCS Type	git
VCS Version	humble
Last Updated	2024-07-11
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
classic_bags	0.2.0

README

classic_bags

Simplified ROS 2 interface in the style of ROS 1 for reading and writing bag files

Reading Python

ROS 1 Code

import rosbag
bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
bag.close()

ROS 2 Code

import classic_bags
bag = classic_bags.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
# bag.close() Closing bag is not necessary

Writing Python

ROS 1 Code

import rosbag
from std_msgs.msg import Int32, String

bag = rosbag.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()

ROS 2 Code

import classic_bags
from std_msgs.msg import Int32, String

bag = classic_bags.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()  # Closing is not strictly necessary

Alternate ROS 2 Code

import classic_bags
from std_msgs.msg import String
import rclpy.time
import builtin_interfaces.msg


with classic_bags.Bag('test.bag', 'w') as bag:
    s = String()
    s.data = 'foo'

    # The third argument of the write method is the timestamp

    # Floats are interpreted as seconds since epoch
    bag.write('chatter', s, 456606000.5)

    # Ints are interpreted as nanoseconds since epoch
    bag.write('chatter', s, 456606000600000000)

    # You can also use rclpy.time.Time
    pytime = rclpy.time.Time(seconds=456606000, nanoseconds=700000000)
    bag.write('chatter', s, pytime)

    # Or a timestamp from a message
    msgtime = builtin_interfaces.msg.Time()
    msgtime.sec = 456606000
    msgtime.nanosec = 800000000
    bag.write('chatter', s, msgtime)

    # If none is specified, the system time will be used
    bag.write('chatter', s)

C++ Reading

ROS 1 Code

#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Read);

std::vector<std::string> topics;
topics.push_back(std::string("chatter"));
topics.push_back(std::string("numbers"));

rosbag::View view(bag, rosbag::TopicQuery(topics));

foreach(rosbag::MessageInstance const m, view)
{
    std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag
bag.open("test.bag", classic_bags::Read);

// Note: Topic filtering and iterator support not available yet
while (bag.hasNext())
{
    auto m = bag.next();
    std_msgs::msg::String::SharedPtr s = m->instantiate<std_msgs::msg::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::msg::Int32::SharedPtr i = m->instantiate<std_msgs::msg::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

C++ Writing

ROS 1 Code

#include <rosbag/bag.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Write);

std_msgs::String str;
str.data = std::string("foo");

std_msgs::Int32 i;
i.data = 42;

bag.write("chatter", ros::Time::now(), str);
bag.write("numbers", ros::Time::now(), i);

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag;
bag.open("test.bag", classic_bags::Write);

std_msgs::msg::String str;
str.data = std::string("foo");

std_msgs::msg::Int32 i;
i.data = 42;

// If not specified, timestamp is assumed to be system time
bag.write("chatter", str);

// Otherwise, timestamp must be rclcpp::Time
bag.write("numbers", rclcpp::Time(456606000600000000), i);

bag.close();

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/MetroRobots/classic_bags.git
VCS Type	git
VCS Version	main
Last Updated	2024-07-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
classic_bags	0.4.0

README

classic_bags

Simplified ROS 2 interface in the style of ROS 1 for reading and writing bag files

Reading Python

ROS 1 Code

import rosbag
bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
bag.close()

ROS 2 Code

import classic_bags
bag = classic_bags.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
# bag.close() Closing bag is not necessary

Writing Python

ROS 1 Code

import rosbag
from std_msgs.msg import Int32, String

bag = rosbag.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()

ROS 2 Code

import classic_bags
from std_msgs.msg import Int32, String

bag = classic_bags.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()  # Closing is not strictly necessary

Alternate ROS 2 Code

import classic_bags
from std_msgs.msg import String
import rclpy.time
import builtin_interfaces.msg


with classic_bags.Bag('test.bag', 'w') as bag:
    s = String()
    s.data = 'foo'

    # The third argument of the write method is the timestamp

    # Floats are interpreted as seconds since epoch
    bag.write('chatter', s, 456606000.5)

    # Ints are interpreted as nanoseconds since epoch
    bag.write('chatter', s, 456606000600000000)

    # You can also use rclpy.time.Time
    pytime = rclpy.time.Time(seconds=456606000, nanoseconds=700000000)
    bag.write('chatter', s, pytime)

    # Or a timestamp from a message
    msgtime = builtin_interfaces.msg.Time()
    msgtime.sec = 456606000
    msgtime.nanosec = 800000000
    bag.write('chatter', s, msgtime)

    # If none is specified, the system time will be used
    bag.write('chatter', s)

C++ Reading

ROS 1 Code

#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Read);

std::vector<std::string> topics;
topics.push_back(std::string("chatter"));
topics.push_back(std::string("numbers"));

rosbag::View view(bag, rosbag::TopicQuery(topics));

foreach(rosbag::MessageInstance const m, view)
{
    std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag
bag.open("test.bag", classic_bags::Read);

// Note: Topic filtering and iterator support not available yet
while (bag.hasNext())
{
    auto m = bag.next();
    std_msgs::msg::String::SharedPtr s = m->instantiate<std_msgs::msg::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::msg::Int32::SharedPtr i = m->instantiate<std_msgs::msg::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

C++ Writing

ROS 1 Code

#include <rosbag/bag.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Write);

std_msgs::String str;
str.data = std::string("foo");

std_msgs::Int32 i;
i.data = 42;

bag.write("chatter", ros::Time::now(), str);
bag.write("numbers", ros::Time::now(), i);

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag;
bag.open("test.bag", classic_bags::Write);

std_msgs::msg::String str;
str.data = std::string("foo");

std_msgs::msg::Int32 i;
i.data = 42;

// If not specified, timestamp is assumed to be system time
bag.write("chatter", str);

// Otherwise, timestamp must be rclcpp::Time
bag.write("numbers", rclcpp::Time(456606000600000000), i);

bag.close();

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/MetroRobots/classic_bags.git
VCS Type	git
VCS Version	main
Last Updated	2024-07-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
classic_bags	0.4.0

README

classic_bags

Simplified ROS 2 interface in the style of ROS 1 for reading and writing bag files

Reading Python

ROS 1 Code

import rosbag
bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
bag.close()

ROS 2 Code

import classic_bags
bag = classic_bags.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
# bag.close() Closing bag is not necessary

Writing Python

ROS 1 Code

import rosbag
from std_msgs.msg import Int32, String

bag = rosbag.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()

ROS 2 Code

import classic_bags
from std_msgs.msg import Int32, String

bag = classic_bags.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()  # Closing is not strictly necessary

Alternate ROS 2 Code

import classic_bags
from std_msgs.msg import String
import rclpy.time
import builtin_interfaces.msg


with classic_bags.Bag('test.bag', 'w') as bag:
    s = String()
    s.data = 'foo'

    # The third argument of the write method is the timestamp

    # Floats are interpreted as seconds since epoch
    bag.write('chatter', s, 456606000.5)

    # Ints are interpreted as nanoseconds since epoch
    bag.write('chatter', s, 456606000600000000)

    # You can also use rclpy.time.Time
    pytime = rclpy.time.Time(seconds=456606000, nanoseconds=700000000)
    bag.write('chatter', s, pytime)

    # Or a timestamp from a message
    msgtime = builtin_interfaces.msg.Time()
    msgtime.sec = 456606000
    msgtime.nanosec = 800000000
    bag.write('chatter', s, msgtime)

    # If none is specified, the system time will be used
    bag.write('chatter', s)

C++ Reading

ROS 1 Code

#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Read);

std::vector<std::string> topics;
topics.push_back(std::string("chatter"));
topics.push_back(std::string("numbers"));

rosbag::View view(bag, rosbag::TopicQuery(topics));

foreach(rosbag::MessageInstance const m, view)
{
    std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag
bag.open("test.bag", classic_bags::Read);

// Note: Topic filtering and iterator support not available yet
while (bag.hasNext())
{
    auto m = bag.next();
    std_msgs::msg::String::SharedPtr s = m->instantiate<std_msgs::msg::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::msg::Int32::SharedPtr i = m->instantiate<std_msgs::msg::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

C++ Writing

ROS 1 Code

#include <rosbag/bag.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Write);

std_msgs::String str;
str.data = std::string("foo");

std_msgs::Int32 i;
i.data = 42;

bag.write("chatter", ros::Time::now(), str);
bag.write("numbers", ros::Time::now(), i);

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag;
bag.open("test.bag", classic_bags::Write);

std_msgs::msg::String str;
str.data = std::string("foo");

std_msgs::msg::Int32 i;
i.data = 42;

// If not specified, timestamp is assumed to be system time
bag.write("chatter", str);

// Otherwise, timestamp must be rclcpp::Time
bag.write("numbers", rclcpp::Time(456606000600000000), i);

bag.close();

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro noetic. Known supported distros are highlighted in the buttons above.

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/MetroRobots/classic_bags.git
VCS Type	git
VCS Version	iron
Last Updated	2024-07-11
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
classic_bags	0.3.0

README

classic_bags

Simplified ROS 2 interface in the style of ROS 1 for reading and writing bag files

Reading Python

ROS 1 Code

import rosbag
bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
bag.close()

ROS 2 Code

import classic_bags
bag = classic_bags.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)
# bag.close() Closing bag is not necessary

Writing Python

ROS 1 Code

import rosbag
from std_msgs.msg import Int32, String

bag = rosbag.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()

ROS 2 Code

import classic_bags
from std_msgs.msg import Int32, String

bag = classic_bags.Bag('test.bag', 'w')

try:
    s = String()
    s.data = 'foo'

    i = Int32()
    i.data = 42

    bag.write('chatter', s)
    bag.write('numbers', i)
finally:
    bag.close()  # Closing is not strictly necessary

Alternate ROS 2 Code

import classic_bags
from std_msgs.msg import String
import rclpy.time
import builtin_interfaces.msg


with classic_bags.Bag('test.bag', 'w') as bag:
    s = String()
    s.data = 'foo'

    # The third argument of the write method is the timestamp

    # Floats are interpreted as seconds since epoch
    bag.write('chatter', s, 456606000.5)

    # Ints are interpreted as nanoseconds since epoch
    bag.write('chatter', s, 456606000600000000)

    # You can also use rclpy.time.Time
    pytime = rclpy.time.Time(seconds=456606000, nanoseconds=700000000)
    bag.write('chatter', s, pytime)

    # Or a timestamp from a message
    msgtime = builtin_interfaces.msg.Time()
    msgtime.sec = 456606000
    msgtime.nanosec = 800000000
    bag.write('chatter', s, msgtime)

    # If none is specified, the system time will be used
    bag.write('chatter', s)

C++ Reading

ROS 1 Code

#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Read);

std::vector<std::string> topics;
topics.push_back(std::string("chatter"));
topics.push_back(std::string("numbers"));

rosbag::View view(bag, rosbag::TopicQuery(topics));

foreach(rosbag::MessageInstance const m, view)
{
    std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag
bag.open("test.bag", classic_bags::Read);

// Note: Topic filtering and iterator support not available yet
while (bag.hasNext())
{
    auto m = bag.next();
    std_msgs::msg::String::SharedPtr s = m->instantiate<std_msgs::msg::String>();
    if (s != NULL)
        std::cout << s->data << std::endl;

    std_msgs::msg::Int32::SharedPtr i = m->instantiate<std_msgs::msg::Int32>();
    if (i != NULL)
        std::cout << i->data << std::endl;
}

bag.close();

C++ Writing

ROS 1 Code

#include <rosbag/bag.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Write);

std_msgs::String str;
str.data = std::string("foo");

std_msgs::Int32 i;
i.data = 42;

bag.write("chatter", ros::Time::now(), str);
bag.write("numbers", ros::Time::now(), i);

bag.close();

ROS 2 Code

#include <classic_bags/bag.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.hpp>

classic_bags::Bag bag;
bag.open("test.bag", classic_bags::Write);

std_msgs::msg::String str;
str.data = std::string("foo");

std_msgs::msg::Int32 i;
i.data = 42;

// If not specified, timestamp is assumed to be system time
bag.write("chatter", str);

// Otherwise, timestamp must be rclcpp::Time
bag.write("numbers", rclcpp::Time(456606000600000000), i);

bag.close();

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

No version for distro indigo. Known supported distros are highlighted in the buttons above.

No version for distro hydro. Known supported distros are highlighted in the buttons above.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

classic_bags repository

Repository Summary

Packages

README

classic_bags

Reading Python

ROS 1 Code

ROS 2 Code

Writing Python

ROS 1 Code

ROS 2 Code

Alternate ROS 2 Code

C++ Reading

ROS 1 Code

ROS 2 Code

C++ Writing

ROS 1 Code

ROS 2 Code

CONTRIBUTING

Repository Summary

Packages

README

classic_bags

Reading Python

ROS 1 Code

ROS 2 Code

Writing Python

ROS 1 Code

ROS 2 Code

Alternate ROS 2 Code

C++ Reading

ROS 1 Code

ROS 2 Code

C++ Writing

ROS 1 Code

ROS 2 Code

CONTRIBUTING

Repository Summary

Packages

README

classic_bags

Reading Python

ROS 1 Code

ROS 2 Code

Writing Python

ROS 1 Code

ROS 2 Code

Alternate ROS 2 Code

C++ Reading

ROS 1 Code

ROS 2 Code

C++ Writing

ROS 1 Code

ROS 2 Code

CONTRIBUTING

Repository Summary

Packages

README

classic_bags

Reading Python

ROS 1 Code

ROS 2 Code

Writing Python

ROS 1 Code

ROS 2 Code

Alternate ROS 2 Code

C++ Reading

ROS 1 Code

ROS 2 Code

C++ Writing

ROS 1 Code

ROS 2 Code

CONTRIBUTING