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Writing a ROS command-line utility in C++ - what is the difference compared to writing a ROS node in C++ ?

asked 2016-07-20 08:53:22 -0500

Galto2000 gravatar image

Howdy folks

So far I have written ROS nodes in C++ and invoked them in launch files.

Now I want to write a ROS command-line utility for off-line processing rosbag files in C++ (using the rosbag C++ API), which doesn't interact with any other nodes per se.

More in particular I want to write a utility that looks for camera_info messages in a given bagfile and change camera calibration and distortion parameters.

My question is: Do I write a command-line utility just like I would write a node in C++, within the catkin build framework? What's different between writing a utility and writing a node in C++? Does anyone know of a good C++ example that I can learn from?

Thanks in advance

Galto

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answered 2016-07-20 09:10:05 -0500

dornhege gravatar image

Yes, everything is the same. At the end you just write a normal C++ program using the ROS libraries. Just skip actually connecting to anything, e.g., no need for NodeHandles, etc.

For your specific problem: rosbag filter might already be able to do that, so you won't need to write any specific utility.

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Thanks for your reply and pointing me to rosbag filter - I'll give it a try.

Galto2000 gravatar image Galto2000  ( 2016-07-20 12:25:03 -0500 )edit

Worked like a champ - thanks again!

Galto2000 gravatar image Galto2000  ( 2016-07-21 19:49:23 -0500 )edit

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Asked: 2016-07-20 08:53:22 -0500

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Last updated: Jul 20 '16