【cartographer without ros】七、Rosbag的引入和使用

上一节介绍了LandmarkData数据相关转换，到此阐述了在不带ros环境中，对cartographer所需要的几类传感器数据进行处理。

本节就将介绍在脱离ros环境后，我们仍可以引入和使用Rosbag，以对外部数据进行存包读包，方便我们对cartographer的建图和定位做离线模拟和调试。

目录

1：安装rosbag并引用

2：初始化rosbag，并打开对应读写文件

3：将传感器数据写入rosbag

4：在rosbag中读取传感器数据

---

1：安装rosbag并引用

安装：

sudo apt-get install librosbag-dev

如果按照此系列第一篇博客【cartographer without ros】一、不带Ros的快速安装配置环境，此时应该已经安装了rosbag。
引用：

#include <rosbag/bag.h>
#include <rosbag/view.h>

---

2：初始化rosbag，并打开对应读写文件

rosbag::Bag bag_;
if(read)
{
    bag_.open(bagName,rosbag::bagmode::Read);
}
else
{
    bag_.open(bagName,rosbag::bagmode::Write);
}

---

3：将传感器数据写入rosbag

template void Write<cartographer::sensor::TimedPointCloudData>(
    cartographer::sensor::TimedPointCloudData measurement);
template void Write<cartographer::sensor::OdometryData>(
    cartographer::sensor::OdometryData measurement);
template void Write<cartographer::sensor::ImuData>(
    cartographer::sensor::ImuData measurement);
template void Write<cartographer::sensor::LandmarkData>(
    cartographer::sensor::LandmarkData measurement);
template <typename T>
void Write(T measurement)
{
  std::string sensorname = typeid(measurement).name();
  ros::Time time = RosFromCarto(CartoFromSys());
  auto msg = ToRosMsg(measurement);
  bag_.write(sensorname, time, msg);
}

---

4：在rosbag中读取传感器数据

void Read()
{
    rosbag::View view(bag_);
    for (rosbag::MessageInstance m : view)
    {
        if (m.getTopic() == typeid(cartographer::sensor::TimedPointCloudData).name())
        {
            sensor_msgs::LaserScanConstPtr rosMsg = m.instantiate<sensor_msgs::LaserScan>();
            if (rosMsg != NULL)
            {
                cartographer::sensor::TimedPointCloudData pointcloud_data = ToCartoSensor(*rosMsg);
            }
        }
        else if (m.getTopic() == typeid(cartographer::sensor::OdometryData).name())
        {
            nav_msgs::OdometryConstPtr rosMsg = m.instantiate<nav_msgs::Odometry>();
            if (rosMsg != NULL)
            {
                cartographer::sensor::OdometryData odometry_data = ToCartoSensor(*rosMsg);
            }
        }
        else if ( m.getTopic() == typeid(cartographer::sensor::ImuData).name())
        {
            sensor_msgs::ImuConstPtr rosMsg = m.instantiate<sensor_msgs::Imu>();
            if (rosMsg != NULL)
            {
               cartographer::sensor::ImuData imu_data = ToCartoSensor(*rosMsg);
            }
        } 
        else if (m.getTopic() == typeid(cartographer::sensor::LandmarkData).name())
        {
            cartographer_ros_msgs::LandmarkListConstPtr rosMsg = m.instantiate<cartographer_ros_msgs::LandmarkList>();
            if (rosMsg != NULL)
            {
               cartographer::sensor::LandmarkData landmark_data = ToCartoSensor(*rosMsg);
            }
        }
    }
}

【完】

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下一节会介绍在自己的工程中，引入调用cartographer，来实现建图，存储，定位等功能。