Class BAGReader

Defined in File bag_io.hpp

Inheritance Relationships

Base Type

public nodelet::Nodelet

Class Documentation

class BAGReader : public nodelet::Nodelet

BAG PointCloud file format reader.

Author: Radu Bogdan Rusu

Public Types

typedef sensor_msgs::PointCloud2 PointCloud

typedef PointCloud::Ptr PointCloudPtr

typedef PointCloud::ConstPtr PointCloudConstPtr

Public Functions

inline BAGReader(): Empty constructor.

inline void setPublishRate(double publish_rate)

Set the publishing rate in seconds.

Parameters:: publish_rate – the publishing rate in seconds

inline double getPublishRate(): Get the publishing rate in seconds.

inline PointCloudConstPtr getNextCloud()

Get the next point cloud dataset in the BAG file.

Returns:: the next point cloud dataset as read from the file

bool open(const std::string &file_name, const std::string &topic_name)

Open a BAG file for reading and select a specified topic.

Parameters:

file_name – the BAG file to open
topic_name – the topic that we want to read data from

inline void close(): Close an open BAG file.

virtual void onInit(): Nodelet initialization routine.