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 get_topics(self):
bagfile = self.config.file
if self.config.topics is not None:
given_topics = self.config.topics.strip()
else:
given_topics = None
if given_topics:
topics = given_topics.split(",")
else:
all_topics = [c.topic for c in self.bag._get_connections()]
topics = sorted(set(all_topics))
self.baginfo = rosbag_info(bagfile)
res, _, asked2resolved = resolve_topics(self.baginfo, topics)
self.info("Resolving:\n%s" % pformat(asked2resolved))
return res
