def read_messages(path):
with rosbag.Bag(path) as bag:
return [{
'topic': topic,
'msg': convert_ros_message_to_dictionary(msg),
'time': t.to_time()
} for topic, msg, t in bag.read_messages()]
def srv_store_object_cb(self, req):
db = dataset.connect('sqlite:////' + self.db_path)
objects = db['objects']
bb_json = json.dumps(message_converter.convert_ros_message_to_dictionary(req.bbox))
objects.insert(dict(name=req.name, model_url=req.model_url, obj_id=req.obj_id, type=req.type, bb=bb_json))
resp =storeObjectResponse()
resp.success = True
return resp
def srv_store_program_cb(self, req):
db = dataset.connect('sqlite:////' + self.db_path)
programs = db['programs']
prog_json = json.dumps(message_converter.convert_ros_message_to_dictionary(req.program))
resp = storeProgramResponse()
resp.success = True
programs.upsert(dict(program_id=req.program.id, name=req.program.name, json=prog_json), ['program_id'])
return resp
def convert_ros_message_to_json(message):
"""
Takes in a ROS message and returns a JSON-formatted string.
Example:
ros_message = std_msgs.msg.String(data="Hello, Robot")
json_message = convert_ros_message_to_json(ros_message)
"""
dictionary = message_converter.convert_ros_message_to_dictionary(message)
json_message = json.dumps(dictionary)
return json_message
def extract_data(bag, topic, directory):
"""
Spew messages to a file
args:
topic -> topic to extract and print to txt file
"""
output_dir = os.path.join(directory, topic.replace('/', '') + '.yaml')
print 'Printing {0}'.format(topic)
print 'Output file will be called {0}.'.format(directory.split('/')[-1])
output_file = open(output_dir, "w")
for topic, msg, t in bag.read_messages(topics=topic):
created_dictionary = message_converter.convert_ros_message_to_dictionary(
msg)
yaml.dump(created_dictionary, output_file, default_flow_style=False)
output_file.close()
print 'DONE'
def robot_pose_callback(self, msg):
attr_dict = message_converter.convert_ros_message_to_dictionary(msg)
json_file.json_write("/home/eaibot/dashgo_ws/src/dashgo/dashgo_nav/maps/current_pose.json", attr_dict)
