horverno

# Reading from a MCAP file
# sudo apt install ros-$ROS_DISTRO-ros-base ros-$ROS_DISTRO-ros2bag ros-$ROS_DISTRO-rosbag2-transport ros-$ROS_DISTRO-rosbag2-storage-mcap 
from mcap import __version__
print(__version__)


"""script that reads ROS2 messages from an MCAP bag using the rosbag2_py API."""
import argparse
from rclpy.serialization import deserialize_message
from rosidl_runtime_py.utilities import get_message

horverno

#include <visualization_msgs/Marker.h>
#include <math.h>

///....


    ros::Publisher circ_marker_pub = n.advertise<visualization_msgs::Marker>("pure_circle", 1);

///....

horverno

#!/usr/bin/env python
import sys
import os
import struct

import numpy as np
import rospy
from std_msgs.msg import Header
from sensor_msgs.msg import Image, CompressedImage, CameraInfo, PointCloud2, PointField
from image_geometry import PinholeCameraModel

horverno

#!/usr/bin/env python

## PYTHON2
# subscribes to PointCloud2, transforms to "map" and saves as npy


import rospy
from sensor_msgs.msg import PointCloud2
import sensor_msgs.point_cloud2 as pc2
import numpy as np

horverno

from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import sys
import numpy as np
sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
import cv2
import cv2.aruco as aruco
import numpy as np
import rectangleArea as ra