- Generated on Tue Jan 30 2024 20:00:20 for rosros by
1.9.7
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rosros 0.2.5
Simple unified interface to ROS1 / ROS2 Python API
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ROS2 bag interface, partially mimicking rosbag.Bag. More...
Public Member Functions | |
| __init__ (self, filename, mode="a", *_, **__) | |
| __enter__ (self) | |
| Context manager entry. | |
| __exit__ (self, exc_type, exc_value, traceback) | |
| Context manager exit, closes bag. | |
| __iter__ (self) | |
| Iterates over all messages in the bag. | |
| __str__ (self) | |
| Returns informative text for bag, with a full overview of topics and types. | |
| close (self) | |
| Closes the bag file. | |
| flush (self) | |
| Does nothing (ROS1 API conformity stand-in). | |
| get_end_time (self) | |
| Returns the end time of the bag, as UNIX timestamp. | |
| get_message_class (self, typename, typehash=None) | |
| Returns ROS2 message type class. | |
| get_message_count (self, topic_filters=None) | |
| Returns the number of messages in the bag. | |
| get_message_definition (self, msg_or_type) | |
| Returns ROS2 message type definition full text, including subtype definitions. | |
| get_message_type_hash (self, msg_or_type) | |
| Returns ROS2 message type MD5 hash. | |
| get_qoses (self, topic, typename) | |
| Returns topic Quality-of-Service profiles as a list of dicts, or None if not available. | |
| get_start_time (self) | |
| Returns the start time of the bag, as UNIX timestamp. | |
| get_topic_info (self, counts=False) | |
| Returns topic and message type metainfo as {(topic, typename, typehash): count}. | |
| get_type_and_topic_info (self, topic_filters=None) | |
| Returns thorough metainfo on topic and message types. | |
| read_messages (self, topics=None, start_time=None, end_time=None, raw=False, *_, **__) | |
| Yields messages from the bag in chronological order. | |
| write (self, topic, msg, t=None, raw=False, qoses=None, **__) | |
| Writes a message to the bag. | |
Public Attributes | |
| filename | |
| Bagfile path. | |
Static Public Attributes | |
| BagMessage = collections.namedtuple("BagMessage", "topic message timestamp") | |
| Returned from read_messages() as (topic name, ROS message, rclpy.Time). | |
| str | CREATE_SQL |
| ROS2 bag SQLite schema. | |
| str | EXTENSION = ".db3" |
| Default extension for bag files. | |
| TopicTuple | |
| Returned from get_type_and_topic_info() as (typename, message count, connection count, median frequency). | |
| TypesAndTopicsTuple = collections.namedtuple("TypesAndTopicsTuple", ["msg_types", "topics"]) | |
| Returned from get_type_and_topic_info() as ({typename: typehash}, {topic name: TopicTuple}). | |
Protected Member Functions | |
| _has_table (self, name) | |
| Returns whether specified table exists in database. | |
Protected Attributes | |
| _counts | |
| _db | |
| _dbtopics | |
| _mode | |
| _qoses | |
| _types | |
Properties | |
| mode = property | |
| Returns file open mode. | |
| size = property | |
| Returns current file size in bytes (including journaling files). | |
| rosros.ros2.Bag.__init__ | ( | self, | |
| filename, | |||
mode = "a", |
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| * | _, | ||
| ** | __ | ||
| ) |
| rosros.ros2.Bag.__exit__ | ( | self, | |
| exc_type, | |||
| exc_value, | |||
| traceback | |||
| ) |
| rosros.ros2.Bag.__iter__ | ( | self | ) |
| rosros.ros2.Bag.__str__ | ( | self | ) |
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protected |
| rosros.ros2.Bag.flush | ( | self | ) |
| rosros.ros2.Bag.get_end_time | ( | self | ) |
| rosros.ros2.Bag.get_message_class | ( | self, | |
| typename, | |||
typehash = None |
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| ) |
| rosros.ros2.Bag.get_message_count | ( | self, | |
topic_filters = None |
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| ) |
| rosros.ros2.Bag.get_message_definition | ( | self, | |
| msg_or_type | |||
| ) |
| rosros.ros2.Bag.get_message_type_hash | ( | self, | |
| msg_or_type | |||
| ) |
| rosros.ros2.Bag.get_qoses | ( | self, | |
| topic, | |||
| typename | |||
| ) |
| rosros.ros2.Bag.get_start_time | ( | self | ) |
| rosros.ros2.Bag.get_topic_info | ( | self, | |
counts = False |
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| ) |
| rosros.ros2.Bag.get_type_and_topic_info | ( | self, | |
topic_filters = None |
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| ) |
Returns thorough metainfo on topic and message types.
| topic_filters | list of topics or a single topic to filter by, if at all |
| rosros.ros2.Bag.read_messages | ( | self, | |
topics = None, |
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start_time = None, |
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end_time = None, |
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raw = False, |
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| * | _, | ||
| ** | __ | ||
| ) |
Yields messages from the bag in chronological order.
| topics | list of topics or a single topic to filter by, if at all |
| start_time | earliest timestamp of message to return, as `rclpy.Time` or convertible (int/float/duration/datetime/decimal/builtin_interfaces.Time)
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| end_time | latest timestamp of message to return, as `rclpy.Time` or convertible (int/float/duration/datetime/decimal/builtin_interfaces.Time)
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| raw | if True, then returned messages are tuples of (typename, bytes, typehash, typeclass)
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| rosros.ros2.Bag.write | ( | self, | |
| topic, | |||
| msg, | |||
t = None, |
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raw = False, |
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qoses = None, |
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| ** | __ | ||
| ) |
Writes a message to the bag.
| topic | name of topic |
| msg | ROS2 message |
| t | message timestamp if not using current wall time, as `rclpy.Time` or convertible (int/float/duration/datetime/decimal/builtin_interfaces.Time)
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| raw | if true, msg is expected as a tuple starting with (typename, bytes, typehash, )
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| qoses | list of Quality-of-Service profile dictionaries for topic, if any; inserted to topics-table only if first message for topic in bag |
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static |
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ROS2 bag SQLite schema.
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1.9.7