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@PeterMitrano
Created February 16, 2023 18:31
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One way to read a bagfile from python in ros2
def open_bagfile(bagfile: Path):
reader = rosbag2_py.SequentialReader()
storage_options = rosbag2_py.StorageOptions(bagfile.as_posix())
converter_options = rosbag2_py.ConverterOptions("cdr", "cdr")
reader.open(storage_options, converter_options)
topic_types = reader.get_all_topics_and_types()
# Create a map for quicker lookup
type_map = {
topic_types[i].name: topic_types[i].type for i in range(len(topic_types))
}
return reader, type_map
def get_first_message_on_topic(reader, type_map, topic):
storage_filter = rosbag2_py.StorageFilter(topics=[topic])
reader.set_filter(storage_filter)
while reader.has_next():
(topic, data, _) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
return msg
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