Public Member Functions | |
| def | __bool__ (self) |
| def | __contains__ (self, key) |
| def | __copy__ (self) |
| def | __deepcopy__ (self, memo=None) |
| def | __enter__ (self) |
| def | __exit__ (self, exc_type, exc_value, traceback) |
| def | __getitem__ (self, key) |
| def | __iter__ (self) |
| def | __len__ (self) |
| def | __next__ (self) |
| def | __nonzero__ (self) |
| def | __str__ (self) |
| def | close (self) |
| def | closed (self) |
| def | filename (self) |
| def | flush (self) |
| def | get_end_time (self) |
| def | get_message_class (self, typename, typehash=None) |
| def | get_message_count (self, topic_filters=None) |
| def | get_message_definition (self, msg_or_type) |
| def | get_message_type_hash (self, msg_or_type) |
| def | get_qoses (self, topic, typename) |
| def | get_start_time (self) |
| def | get_topic_info (self, counts=True) |
| def | get_type_and_topic_info (self, topic_filters=None) |
| def | mode (self) |
| def | open (self) |
| def | read_messages (self, topics=None, start_time=None, end_time=None, raw=False, **__) |
| def | size (self) |
| def | stop_on_error (self) |
| def | stop_on_error (self, flag) |
| def | topics (self) |
| def | write (self, topic, msg, t=None, raw=False, **kwargs) |
Static Public Attributes | |
| BagMessage = collections.namedtuple("BagMessage", "topic message timestamp") | |
| Returned from read_messages() as (topic name, ROS message, ROS timestamp object). More... | |
| tuple | MODES = ("r", "w", "a") |
| Supported opening modes, overridden in subclasses. More... | |
| next | |
| bool | STREAMABLE = True |
| Whether bag supports reading or writing stream objects, overridden in subclasses. More... | |
| TopicTuple | |
| Returned from get_type_and_topic_info() as (typename, message count, connection count, median frequency). More... | |
| TypesAndTopicsTuple = collections.namedtuple("TypesAndTopicsTuple", ["msg_types", "topics"]) | |
| Returned from get_type_and_topic_info() as ({typename: typehash}, {topic name: TopicTuple}). More... | |
Detailed Description
ROS bag interface. %Bag can be used a context manager, is an iterable providing (topic, message, timestamp) tuples and supporting `len(bag)`; and supports topic-based membership (`if mytopic in bag`, `for t, m, s in bag[mytopic]`, `len(bag[mytopic])`). Extra methods and properties compared with rosbag.Bag: Bag.get_message_class(), Bag.get_message_definition(), Bag.get_message_type_hash(), Bag.get_topic_info(); Bag.closed and Bag.topics.
Member Function Documentation
◆ __bool__()
◆ __contains__()
| def grepros.api.BaseBag.__contains__ | ( | self, | |
| key | |||
| ) |
Returns whether bag contains given topic.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ __copy__()
◆ __deepcopy__()
◆ __enter__()
| def grepros.api.BaseBag.__enter__ | ( | self | ) |
◆ __exit__()
| def grepros.api.BaseBag.__exit__ | ( | self, | |
| exc_type, | |||
| exc_value, | |||
| traceback | |||
| ) |
◆ __getitem__()
| def grepros.api.BaseBag.__getitem__ | ( | self, | |
| key | |||
| ) |
◆ __iter__()
| def grepros.api.BaseBag.__iter__ | ( | self | ) |
◆ __len__()
| def grepros.api.BaseBag.__len__ | ( | self | ) |
◆ __next__()
| def grepros.api.BaseBag.__next__ | ( | self | ) |
Retrieves next message from bag as (topic, message, timestamp).
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ __nonzero__()
◆ __str__()
| def grepros.api.BaseBag.__str__ | ( | self | ) |
◆ close()
| def grepros.api.BaseBag.close | ( | self | ) |
Closes the bag file.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ closed()
| def grepros.api.BaseBag.closed | ( | self | ) |
Returns whether file is closed.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ filename()
| def grepros.api.BaseBag.filename | ( | self | ) |
Returns bag file path.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ flush()
| def grepros.api.BaseBag.flush | ( | self | ) |
◆ get_end_time()
| def grepros.api.BaseBag.get_end_time | ( | self | ) |
Returns the end time of the bag, as UNIX timestamp, or None if bag empty.
Reimplemented in grepros.ros1.ROS1Bag, grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ get_message_class()
| def grepros.api.BaseBag.get_message_class | ( | self, | |
| typename, | |||
typehash = None |
|||
| ) |
Returns ROS message type class, or None if unknown message type for bag.
Reimplemented in grepros.ros2.ROS2Bag, grepros.ros1.ROS1Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ get_message_count()
| def grepros.api.BaseBag.get_message_count | ( | self, | |
topic_filters = None |
|||
| ) |
Returns the number of messages in the bag. @param topic_filters list of topics or a single topic to filter by, if any
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ get_message_definition()
| def grepros.api.BaseBag.get_message_definition | ( | self, | |
| msg_or_type | |||
| ) |
Returns ROS message type definition full text, including subtype definitions. Returns None if unknown message type for bag.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ get_message_type_hash()
| def grepros.api.BaseBag.get_message_type_hash | ( | self, | |
| msg_or_type | |||
| ) |
Returns ROS message type MD5 hash, or None if unknown message type for bag.
Reimplemented in grepros.ros2.ROS2Bag, grepros.ros1.ROS1Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ get_qoses()
| def grepros.api.BaseBag.get_qoses | ( | self, | |
| topic, | |||
| typename | |||
| ) |
Returns topic Quality-of-Service profiles as a list of dicts, or None if not available. Functional only in ROS2.
Reimplemented in grepros.ros2.ROS2Bag, and grepros.plugins.mcap.McapBag.
◆ get_start_time()
| def grepros.api.BaseBag.get_start_time | ( | self | ) |
Returns the start time of the bag, as UNIX timestamp, or None if bag empty.
Reimplemented in grepros.ros1.ROS1Bag, grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ get_topic_info()
| def grepros.api.BaseBag.get_topic_info | ( | self, | |
counts = True |
|||
| ) |
◆ get_type_and_topic_info()
| def grepros.api.BaseBag.get_type_and_topic_info | ( | self, | |
topic_filters = None |
|||
| ) |
Returns thorough metainfo on topic and message types.
@param topic_filters list of topics or a single topic to filter returned topics-dict by,
if any
@return TypesAndTopicsTuple(msg_types, topics) namedtuple,
msg_types as dict of {typename: typehash},
topics as a dict of {topic: TopicTuple() namedtuple}.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ mode()
| def grepros.api.BaseBag.mode | ( | self | ) |
Returns file open mode.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ open()
| def grepros.api.BaseBag.open | ( | self | ) |
Opens the bag file if not already open.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ read_messages()
| def grepros.api.BaseBag.read_messages | ( | self, | |
topics = None, |
|||
start_time = None, |
|||
end_time = None, |
|||
raw = False, |
|||
| ** | __ | ||
| ) |
Yields messages from the bag, optionally filtered by topic and timestamp.
@param topics list of topics or a single topic to filter by, if any
@param start_time earliest timestamp of message to return, as ROS time or convertible
(int/float/duration/datetime/decimal)
@param end_time latest timestamp of message to return, as ROS time
(int/float/duration/datetime/decimal)
@param raw if true, then returned messages are tuples of
(typename, bytes, typehash, typeclass)
or (typename, bytes, typehash, position, typeclass),
depending on file format
@return BagMessage namedtuples of (topic, message, timestamp as ROS time)
Reimplemented in grepros.ros2.ROS2Bag.
◆ size()
| def grepros.api.BaseBag.size | ( | self | ) |
Returns current file size in bytes.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, and grepros.plugins.embag.EmbagReader.
◆ stop_on_error() [1/2]
| def grepros.api.BaseBag.stop_on_error | ( | self | ) |
◆ stop_on_error() [2/2]
| def grepros.api.BaseBag.stop_on_error | ( | self, | |
| flag | |||
| ) |
◆ topics()
| def grepros.api.BaseBag.topics | ( | self | ) |
Returns the list of topics in bag, in alphabetic order.
Reimplemented in grepros.ros2.ROS2Bag, grepros.plugins.mcap.McapBag, grepros.ros1.ROS1Bag, and grepros.plugins.embag.EmbagReader.
◆ write()
| def grepros.api.BaseBag.write | ( | self, | |
| topic, | |||
| msg, | |||
t = None, |
|||
raw = False, |
|||
| ** | kwargs | ||
| ) |
Writes a message to the bag.
@param topic name of topic
@param msg ROS message
@param t message timestamp if not using current wall time, as ROS time
or convertible (int/float/duration/datetime/decimal)
@param raw if true, `msg` is in raw format, (typename, bytes, typehash, typeclass)
@param kwargs ROS version-specific arguments,
like `connection_header` for ROS1 or `qoses` for ROS2
Reimplemented in grepros.plugins.mcap.McapBag.
Member Data Documentation
◆ BagMessage
|
static |
Returned from read_messages() as (topic name, ROS message, ROS timestamp object).
◆ MODES
|
static |
◆ next
◆ STREAMABLE
|
static |
◆ TopicTuple
|
static |
Returned from get_type_and_topic_info() as (typename, message count, connection count, median frequency).
◆ TypesAndTopicsTuple
|
static |
Returned from get_type_and_topic_info() as ({typename: typehash}, {topic name: TopicTuple}).
The documentation for this class was generated from the following file: