ROBOT OS学习笔记—rosbag/API示范

https://kanzhiwu.wordpress.com/2013/01/01/robot-os%E5%AD%A6%E4%B9%A0%E7%AC%94%E8%AE%B0-rosbagapi%E7%A4%BA%E8%8C%83/

http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages

http://wiki.ros.org/rosbag/Code%20API

rosbag 写文件示范:

    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);
    //从ros::Time实例中获得当前时间ros::Time::now()
    bag.write("numbers", ros::Time::now(), i);

    bag.close();

rosbag读文件示范:

    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)
            ASSERT_EQ(s->data, std::string("foo"));

        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
        if (i != NULL)
            ASSERT_EQ(i->data, 42);
    }

    bag.close();