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I need to get the names of all the topics in a rosbag in C++ (that is using something like rosbag API). The rosbag cookbook mentions how to get information about the rosbag using python but not C++.
Any help would be appreciated.
You can use rosbag::View::getConnectionInfo.
rosbag::Bag bag("foo.bag");
rosbag::View view(bag);
std::vector<const rosbag::ConnectionInfo *> connection_infos = view.getConnectionInfo();
std::set<std::string> topics;
BOOST_FOREACH(const rosbag::ConnectionInfo *info, connection_infos) {
if( !topics.find(info->topic) ) {
topics.insert(info->topic);
}
}
Thank you, that really helped. On the same note, what is the C++ equivalent of "rewriting bag", given in the cookbook (http://www.ros.org/wiki/rosbag/Cookbook)?
I want to process a particular topic from a rosbag file and write the others unchanged to a new bagfile.
The code proposed by Lorenz did not compile! This is what it should be after fixing the errors:
rosbag::Bag bag("foo.bag");
rosbag::View view(bag);
std::vector<const rosbag::ConnectionInfo *> connection_infos = view.getConnections();
std::set<std::string> topics;
BOOST_FOREACH(const rosbag::ConnectionInfo *info, connection_infos) {
topics.insert(info->topic);
}
Asked: 2012-07-19 23:35:06 -0600
Seen: 4,630 times
Last updated: Jun 05 '15
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