RosbagUtilities.hpp

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#ifndef ROSBAGUTILITIES_HPP_
#define ROSBAGUTILITIES_HPP_

#include <ros/ros.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>

namespace labust {
        namespace tools {

    class RosbagReader {
      public:
        RosbagReader() {}

        RosbagReader(std::string bag_filename) {
          bag_name = bag_filename;
        }
        
        ~RosbagReader() {
          bag.close();
        }
        
        void setBag(std::string bag_filename) {
          bag_name = bag_filename;
        }

        void addTopic(std::string topic_name) {
          topics.push_back(topic_name);
        }

        void open() {
          bag.open(bag_name.c_str(), rosbag::bagmode::Read);
          bag_view.addQuery(bag, rosbag::TopicQuery(topics));
          message_it = bag_view.begin();
        }

        bool done() {
          return message_it == bag_view.end();
        }

        template <class T>
        T next() {
          if (topics.size() > 1) {
            ROS_ERROR("This function cannot be used with multiple topics.");
            exit(1);
          }
          rosbag::MessageInstance m = *(message_it++);
          return *(m.instantiate<T>());
        }

        rosbag::MessageInstance nextMessageInstance() {
          return *(message_it++);
        }

      private:
        rosbag::Bag bag;
        rosbag::View bag_view;
        rosbag::View::iterator message_it; 
        std::string bag_name;
        std::vector<std::string> topics;
    };

  }
}
/* ROSBAGUTILITIES_HPP_ */
#endif