Class Bag

Defined in File bag.hpp

Class Documentation

class Bag

Public Functions

inline Bag()

inline explicit Bag(std::string const &filename, uint32_t mode = Read, const std::string &storage_id = "")

inline void open(std::string const &filename, uint32_t mode = Read, const std::string &storage_id = "")

inline void close()

inline bool hasNext() const

inline std::shared_ptr<MessageInstance> readNext()

template<class T> inline void write(std::string const &topic, rclcpp::Time const &time, T const &msg)

template<class T> inline void write(std::string const &topic, T const &msg)

Protected Attributes

std::unique_ptr<rosbag2_cpp::readers::SequentialReader> reader_

std::unique_ptr<rosbag2_cpp::Writer> writer_

std::shared_ptr<MessageInstance> current_msg_

std::unordered_map<std::string, std::string> topic_types_