00001 #include <ros/ros.h> 00002 #include <ros/package.h> 00003 #include <std_msgs/String.h> 00004 #include <topic_tools/shape_shifter.h> 00005 #include <rosbag/bag.h> 00006 #include <rosbag/view.h> 00007 #include <boost/foreach.hpp> 00008 00009 typedef struct{ 00010 double time_stamp; 00011 std::string topic; 00012 std::string datatype; 00013 boost::shared_array<uint8_t> ui8Buffer; 00014 ros::serialization::IStream *isStream; 00015 } BagMessage; 00016 00017 std::vector<BagMessage>* rrosBagRead(const char *filename, std::vector<std::string> *topics, unsigned int max_size=-1);