Instead of reading all the data from the ros bag file, is their any ros provided method to read the bag file using memory mapped methode? For example right now i am using below program to read the ros bag named obj.bag using memory mapped i/o,

#include <cstddef>
#include <string>
#include <boost/interprocess/file_mapping.hpp>
#include <boost/interprocess/mapped_region.hpp>
#include <iostream>
namespace bip = boost::interprocess;
int main() {

std::string filename = "obj.bag";
bip::file_mapping mapping(filename.c_str(), bip::read_only);
bip::mapped_region mapped_rgn(mapping, bip::read_only);
char const* const mmaped_data = static

_cast<char*>(mapped_rgn.get_address());
std::size_t const mmap_size = mapped_rgn.get_size();
std::cout<<mmap_size<<std::endl;
}