def process_srv(self, req):
cmd = 'rosbag record -O %s ' % req.dest
cmd += req.topics
if req.topics != '':
self.bag_cap = CmdProcess(cmd.split())
self.bag_cap.run()
else:
self.bag_cap.kill()
return True
class BagCap():
def __init__( self, topic_name = 'capture' ):
self._srv = rospy.Service( 'bag_cap/'+topic_name, BagCapture, self.process_srv )
def process_srv( self, req ):
cmd = 'rosbag record -O %s ' % req.dest
cmd += req.topics
if req.topics != '':
self.bag_cap = CmdProcess( cmd.split() )
self.bag_cap.run()
else:
self.bag_cap.kill()
return True
class BagCap():
def __init__(self, topic_name='capture'):
self._srv = rospy.Service('bag_cap/' + topic_name, BagCapture,
self.process_srv)
def process_srv(self, req):
cmd = 'rosbag record -O %s ' % req.dest
cmd += req.topics
if req.topics != '':
self.bag_cap = CmdProcess(cmd.split())
self.bag_cap.run()
else:
self.bag_cap.kill()
return True
def process_srv( self, req ):
cmd = 'rosbag record -O %s ' % req.dest
cmd += req.topics
if req.topics != '':
self.bag_cap = CmdProcess( cmd.split() )
self.bag_cap.run()
else:
self.bag_cap.kill()
return True
def bagplay(fname):
# to use:
# bp = bagplay( my_file_name )
# bp.run() # starts the execution
# while not bp.is_finished():
# rospy.sleep( 0.5 )
# bp.kill() # not necessary
cmd = 'rosbag play --clock ' + fname + ' -r 2.0 -q'
rospy.logout('Launching bag file: %s' % fname)
return CmdProcess(cmd.split())
