[英]I don't know the meaning of the ROS code,and I can't understand the example of ros wiki
我期待這段代碼的詳細描述。 謝謝
rosbag::Bag bag(rosbag, rosbag::bagmode::Read);//read bag?
rosbag::View view(bag, rosbag::TopicQuery(topics));//create a view on a bag.
BOOST_FOREACH(rosbag::MessageInstance const m, view){}//what?
const std::string& topic_name = m.getTopic();
if (topic_name == topics[0])//what?
{
dvs_msgs::EventArray::ConstPtr msg =
m.instantiate<dvs_msgs::EventArray>();
if (msg != NULL)
{
if(msg->events.empty())
{
continue;
}
const ros::Time& stamp = msg->events[0].ts;
}
rosbag::Bag bag;
bag.open("test.bag", rosbag::bagmode::Read);
是的,這樣你就可以讀取包文件了
std::vector<std::string> topics;
rosbag::View view(bag, rosbag::TopicQuery(topics));
這將遍歷提供的包文件中的所有主題信息並推回主題
BOOST_FOREACH(rosbag::MessageInstance const m, view){}//what?
你在這里有一個錯誤, BOOST_FOREACH是宏,這里如何使用它
#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH
包含頭文件,然后
foreach(rosbag::MessageInstance const m, view)
{
const std::string& topic_name = m.getTopic();
if (topic_name == topics[0])//what?
{
dvs_msgs::EventArray::ConstPtr msg =
m.instantiate<dvs_msgs::EventArray>();
if (msg != NULL)
{
if(msg->events.empty())
{
continue;
}
const ros::Time& stamp = msg->events[0].ts;
}
}
}
這將遍歷每條消息, m.getTopic()
這將獲取與當前消息對應的主題, msg
是當前消息,而stamp
是記錄該消息的時間。
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