使用Python读取rosbag数据。
获取rosbag摘要信息
方法1
import subprocess
import yaml
bagfile = 'input.bag'
info_dict = yaml.load(subprocess.Popen(['rosbag', 'info', '--yaml', bagfile], stdout=subprocess.PIPE).communicate()[0])
duration = info_dict['duration']
start_time = info_dict['start']
方法2
import yaml
from rosbag.bag import Bag
bagfile = 'input.bag'
info_dict = yaml.load(Bag(bagfile, 'r')._get_yaml_info())
duration = info_dict['duration']
start_time = info_dict['start']
获取rosbag消息信息
import rosbag
bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
# for topic, msg, t in bag.read_messages(): # 也可，遍历所有话题
print(msg)
bag.close()