Program Listing for File calibration_data.hpp
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/*
* Copyright (C) 2018-2022 Michael Ferguson
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// Author: Michael Ferguson
#ifndef ROBOT_CALIBRATION_UTIL_CALIBRATION_DATA_HPP
#define ROBOT_CALIBRATION_UTIL_CALIBRATION_DATA_HPP
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
#include <std_msgs/msg/string.hpp>
#include <robot_calibration_msgs/msg/calibration_data.hpp>
namespace robot_calibration
{
inline int getSensorIndex(
const robot_calibration_msgs::msg::CalibrationData& msg,
const std::string& sensor)
{
for (size_t i = 0; i < msg.observations.size(); i++)
{
if (msg.observations[i].sensor_name == sensor)
{
return i;
}
}
return -1;
}
inline bool hasSensor(
const robot_calibration_msgs::msg::CalibrationData& msg,
const std::string& sensor)
{
return getSensorIndex(msg, sensor) >= 0;
}
inline bool load_bag(const std::string& file_name,
std_msgs::msg::String& description_msg,
std::vector<robot_calibration_msgs::msg::CalibrationData>& data)
{
rosbag2_cpp::Reader reader;
// Open the bag file
reader.open(file_name);
// Load messages
while (reader.has_next())
{
auto bag_message = reader.read_next();
if (bag_message->topic_name == "/robot_description")
{
rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
rclcpp::Serialization<std_msgs::msg::String> serialization;
serialization.deserialize_message(&extracted_serialized_msg, &description_msg);
}
else if (bag_message->topic_name == "/calibration_data")
{
robot_calibration_msgs::msg::CalibrationData msg;
rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
rclcpp::Serialization<robot_calibration_msgs::msg::CalibrationData> serialization;
serialization.deserialize_message(&extracted_serialized_msg, &msg);
data.push_back(msg);
}
}
return true;
}
} // namespace robot_calibration
#endif // ROBOT_CALIBRATION_UTIL_CALIBRATION_DATA_HPP