apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
"""Example: Remove topic."""
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from __future__ import annotations
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from typing import TYPE_CHECKING, cast
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from rosbags.interfaces import ConnectionExtRosbag2
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from rosbags.rosbag2 import Reader, Writer
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if TYPE_CHECKING:
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from pathlib import Path
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def remove_topic(src: Path, dst: Path, topic: str) -> None:
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"""Remove topic from rosbag2.
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Args:
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src: Source path.
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dst: Destination path.
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topic: Name of topic to remove.
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"""
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with Reader(src) as reader, Writer(dst) as writer:
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conn_map = {}
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for conn in reader.connections:
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if conn.topic == topic:
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continue
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ext = cast(ConnectionExtRosbag2, conn.ext)
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conn_map[conn.id] = writer.add_connection(
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conn.topic,
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conn.msgtype,
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ext.serialization_format,
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ext.offered_qos_profiles,
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)
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rconns = [reader.connections[x] for x in conn_map]
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for conn, timestamp, data in reader.messages(connections=rconns):
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writer.write(conn_map[conn.id], timestamp, data)
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