def main(self, *, args): # noqa: D102
qos_profile_overrides = {} # Specify a valid default
if args.qos_profile_overrides_path:
qos_profile_dict = yaml.safe_load(args.qos_profile_overrides_path)
try:
qos_profile_overrides = convert_yaml_to_qos_profile(
qos_profile_dict)
except (InvalidQoSProfileException, ValueError) as e:
return print_error(str(e))
storage_config_file = ''
if args.storage_config_file:
storage_config_file = args.storage_config_file.name
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.play(
uri=args.bag_file,
storage_id=args.storage,
node_prefix=NODE_NAME_PREFIX,
read_ahead_queue_size=args.read_ahead_queue_size,
rate=args.rate,
topics=args.topics,
qos_profile_overrides=qos_profile_overrides,
loop=args.loop,
topic_remapping=args.remap,
storage_config_file=storage_config_file)
def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "[ERROR] [ros2bag] bag file '{}' does not exist!".format(
bag_file)
rosbag2_transport_py.play(
uri=bag_file,
storage_id=args.storage,
read_ahead_queue_size=args.read_ahead_queue_size)
def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "[ERROR] [ros2bag] bag file '{}' does not exist!".format(
bag_file)
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.play(
uri=bag_file,
storage_id=args.storage,
node_prefix=NODE_NAME_PREFIX,
read_ahead_queue_size=args.read_ahead_queue_size,
rate=args.rate)
def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "[ERROR] [ros2bag] bag file '{}' does not exist!".format(
bag_file)
if len(args.topics) > 0:
rosbag2_transport_py.play(
uri=bag_file,
storage_id=args.storage,
node_prefix=NODE_NAME_PREFIX,
read_ahead_queue_size=args.read_ahead_queue_size,
topics=args.topics)
else:
rosbag2_transport_py.play(
uri=bag_file,
storage_id=args.storage,
node_prefix=NODE_NAME_PREFIX,
read_ahead_queue_size=args.read_ahead_queue_size)
def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "Error: bag file '{}' does not exist!".format(bag_file)
rosbag2_transport_py.play(uri=bag_file, storage_id='sqlite3')