create_and_iterate_bag.cpp

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#include "ros/time.h"
#include "rosbag/bag.h"
#include "rosbag/view.h"
#include "std_msgs/Int32.h"
#include "std_msgs/String.h"

#include <string>
#include <vector>

#include "boost/foreach.hpp"
#include <gtest/gtest.h>


TEST(rosbag_storage, create_and_iterate_bag)
{
  const char* bag_filename = "/tmp/rosbag_storage_create_and_iterate_bag.bag";
  {
    rosbag::Bag bag;
    bag.open(bag_filename, rosbag::bagmode::Write);

    std_msgs::String str;
    str.data = std::string("foo");
  
    std_msgs::Int32 i;
    i.data = 42;
  
    bag.write("chatter", ros::Time::now(), str);
    bag.write("numbers", ros::Time::now(), i);

    bag.close();
  }

  {
    rosbag::Bag bag;
    bag.open(bag_filename, rosbag::bagmode::Read);

    std::vector<std::string> topics;
    topics.push_back(std::string("chatter"));
    topics.push_back(std::string("numbers"));

    rosbag::View view(bag, rosbag::TopicQuery(topics));

    BOOST_FOREACH(rosbag::MessageInstance const m, view)
    {
      std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
      if (s != NULL)
      {
        if(s->data == std::string("foo")) { 
          printf("Successfully checked string foo\n");
        }
        else
        {
          printf("Failed checked string foo\n");
          FAIL();
        }
      }

      std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
      if (i != NULL)
      {
        if (i->data == 42) { 
          printf("Successfully checked value 42\n");
        }
        else
        {
          printf("Failed checked value 42.\n"); 
          FAIL();
        }
      }
    }

    bag.close();
  }
}

int main(int argc, char **argv) {
    ros::Time::init();

    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}