Class Rosbag2Dataset
Defined in File Rosbag2Dataset.h
Nested Relationships
Nested Types
Inheritance Relationships
Base Types
public mola::RawDataSourceBase
public mola::OfflineDatasetSource
public mola::Dataset_UI
Class Documentation
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class Rosbag2Dataset : public mola::RawDataSourceBase, public mola::OfflineDatasetSource, public mola::Dataset_UI
RawDataSource for datasets in rosbag2 format.
It reads a rosbag2 file, and exposes it as a dataset with N entries, N being the number of messages in the bag. Reading them via the offline API (OfflineDatasetSource) returns empty shared_ptr observations for those messages that do not have a direct mapping to mrpt::obs classes. The dataset can be also played in an online (real-time, or with a custom time wrapping) fashion via the RawDataSourceBase API.
See example configuration files to see how to define what topics to publish, and how to optionally override the sensor poses in the local robot frame.
Public Functions
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Rosbag2Dataset()
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~Rosbag2Dataset() override = default
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virtual void spinOnce() override
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virtual size_t datasetSize() const override
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virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const override
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inline virtual size_t datasetUI_size() const override
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inline virtual size_t datasetUI_lastQueriedTimestep() const override
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inline double datasetUI_playback_speed() const override
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inline void datasetUI_playback_speed(double speed) override
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inline bool datasetUI_paused() const override
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inline void datasetUI_paused(bool paused) override
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inline virtual void datasetUI_teleport(size_t timestep) override
Protected Functions
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virtual void initialize_rds(const Yaml &cfg) override
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Rosbag2Dataset()