protocol 测试

脑洞大开一下，想比较一下rosbag和protocol谁的存储性能好一些。最后的结果是protocol小胜。

实验环境是在ros下，有一个实验用的bag，其中有发布scan。 分别用rosbag和自己写的ros节点，使用proto转存激光雷达的数据。

最后rosbag记录下的文件是157.9M  proto是154.0M。

下面是工程代码

#include "ros/ros.h"
#include "std_msgs/Header.h"
#include "sensor_msgs/LaserScan.h"
#include <iostream>
#include <fstream>
#include <string>
#include "laser.pb.h"
using namespace std;

LaserScanBag laser_scan_bag;

void chatterCallback(const sensor_msgs::LaserScan& scan)
{
  //ROS_INFO("I heard: [%s]", msg->data.c_str());
  cout << scan.header.stamp.sec << "  " << scan.header.stamp.nsec << endl;
  LaserScan *laser_scan_ptr = laser_scan_bag.add_laserscan();

  laser_scan_ptr->set_angle_min(scan.angle_min);
  laser_scan_ptr->set_angle_max(scan.angle_max);
  laser_scan_ptr->set_angle_increment(scan.angle_increment);
  laser_scan_ptr->set_time_increment(scan.time_increment);
  laser_scan_ptr->set_scan_time(scan.scan_time);
  laser_scan_ptr->set_range_min(scan.range_min);
  laser_scan_ptr->set_range_max(scan.range_max);
  for(int i=0;i<scan.ranges.size();i++)
      laser_scan_ptr->add_range(scan.ranges[i]);

}



int main(int argc, char **argv)
{
  GOOGLE_PROTOBUF_VERIFY_VERSION;

  ros::init(argc, argv, "listener");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("scan", 1000, chatterCallback);


  fstream input("laser_bag", ios::in | ios::binary);
  if(!input)
  {
      cout << "create laser_bag" << endl;
  }
  else if(!laser_scan_bag.ParseFromIstream(&input))
  {
      cerr << "fail to open laser_bag!";
      return 1;
  }

  while(ros::ok())
  {
    ros::spinOnce();
  }
  cout << "start write file" <<