def csv2rosbag(csvPath, outputBag):
"""
Creates a ROS bag file from a CSV file.
In this script, only the time and altitude informations written into the ROS bag.
"""
log = pd.read_csv(csvPath)
try:
with rosbag.Bag(outputBag, 'w') as bag:
for row in range(log.shape[0]):
# Populate the data elements for time in seconds
timestamp = rospy.Time.from_sec(log['Time(seconds)'][row])
altitude_msg = Altitude()
altitude_msg.header.stamp = timestamp
# Populate the data elements for altitude in meters
# e.g. altitude_msg.relative = df['Relative'][row]
altitude_msg.local = log['Altitude(meters)'][row]
bag.write(TOPIC, altitude_msg, timestamp)
print(bag)
except:
print("Error: Unable to open CSV file!")
sys.exit()
finally:
bag.close()
def csv2rosbag(csvFile, outputFile):
log = pd.read_csv(csvFile)
try:
with rosbag.Bag(outputFile, 'w') as bag:
for row in range(log.shape[0]):
timestamp = rospy.Time.from_sec(log['Time(seconds)'][row])
altitude_msg = Altitude()
altitude_msg.header.stamp = timestamp
altitude_msg.local = (log['Altitude(meters)'][row])
# Populate the data elements for IMU
# e.g. imu_msg.angular_velocity.x = df['a_v_x'][row]
bag.write(TOPIC, altitude_msg, timestamp)
print(bag)
finally:
bag.close()