classic_bags repository

Repository Summary

Checkout URI https://github.com/MetroRobots/classic_bags.git
VCS Type git
VCS Version main
Last Updated 2024-07-02
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 0.1.0

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 2024-07-02
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 0.1.0

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 2024-07-02
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 0.1.0

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 2024-07-02
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 0.1.0

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.