00001 // Copyright (c) 2010, Willow Garage, Inc. 00002 // All rights reserved. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of Willow Garage, Inc. nor the names of its 00013 // contributors may be used to endorse or promote products derived from 00014 // this software without specific prior written permission. 00015 // 00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 // POSSIBILITY OF SUCH DAMAGE. 00027 00028 #include "rosbag/bag.h" 00029 #include "std_msgs/String.h" 00030 #include "std_msgs/Int32.h" 00031 00032 int main() 00033 { 00034 // %Tag(WRITE)% 00035 rosbag::Bag bag; 00036 bag.open("test.bag", rosbag::bagmode::Write); 00037 00038 std_msgs::String str; 00039 str.data = std::string("foo"); 00040 00041 std_msgs::Int32 i; 00042 i.data = 42; 00043 00044 bag.write("chatter", ros::Time::now(), str); 00045 bag.write("numbers", ros::Time::now(), i); 00046 00047 bag.close(); 00048 // %EndTag(WRITE)% 00049 }