apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
23 lines
1.3 KiB
ReStructuredText
23 lines
1.3 KiB
ReStructuredText
Highlevel APIs
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==============
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The :py:mod:`rosbags.highlevel` package provides classes that abstract the complexity of ROS types, serialization and message access into single easy-to-use interfaces.
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All in one reader
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-----------------
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Instances of the :py:class:`AnyReader <rosbags.highlevel.AnyReader>` class give unified access to ROS1 and ROS2 bag files. If a bag file includes message definitions the reader auto-registers all messages into a blank type store, otherwise it falls back to the default type store. It also exposes appropriate deserialization methods on the reader instance itself.
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.. code-block:: python
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from pathlib import Path
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from rosbags.highlevel import AnyReader
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# create reader instance and open for reading
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with AnyReader([Path('/home/ros/rosbag_2020_03_24')]) as reader:
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connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
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for connection, timestamp, rawdata in reader.messages(connections=connections):
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msg = reader.deserialize(rawdata, connection.msgtype)
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print(msg.header.frame_id)
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AnyReader takes a list of ``pathlib.Path`` instances as arguments. It can take either one ROS2 bag file or one or more ROS1 bag files belonging to a split bag. The reader will replay ROS1 split bags in correct timestamp order.
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