def read_from_bag(self, bagfile):
bag_info = rosbag_info(bagfile)
known = topics_in_bag(bag_info)
self._match_topics_with_known(known)
source = read_bag_stats(bagfile, topics=self.resolved)
show_progress = read_bag_stats_progress(source, logger, interval=5)
# Topic to last message
self._topic2last = {}
self.iterator = show_progress.next
self.read_one = True
def read(self, topics, start=None, stop=None, use_stamp_if_available=False):
source = read_bag_stats(self.bag, topics, logger=None, start_time=start, stop_time=stop)
source = read_bag_stats_progress(source, logger, interval=2)
oldt = None
for topic, msg, t, _ in source:
name = topic
value = msg
if use_stamp_if_available:
try:
stamp = msg.header.stamp
except:
timestamp = t.to_sec()
else:
timestamp = stamp.to_sec()
if timestamp == 0:
timestamp = t.to_sec()
else:
timestamp = t.to_sec()
if oldt is not None:
if oldt == timestamp:
logger.error('Sequence with invalid timestamp? %s' % timestamp)
if start is not None:
if timestamp < start:
logger.warn('Skipping %s < %s because not included in interval.'
% (timestamp, start))
continue
if stop is not None:
if timestamp > stop:
logger.warn('Skipping %s > %s because not included in interval.'
% (timestamp, stop))
continue
if start is not None:
assert start <= timestamp
if stop is not None:
assert stop >= timestamp
yield timestamp, (name, value)
oldt = timestamp
def read_all(self, topics):
bagfile = self.get_bagfile()
return read_bag_stats(bagfile, topics=topics, logger=logger)
