Class BufferableBag

• Defined in File rosbag_utils.hpp

Nested Relationships

Nested Types

• Struct BufferableBag::TFBridge

Class Documentation

class BufferableBag

Public Functions

BufferableBag(const std::string &bag_path, const std::shared_ptr<TFBridge> tf_bridge, const std::vector<std::string> &topics, const tf2::Duration seek = tf2::durationFromSec(0.0), const std::chrono::seconds buffer_size = std::chrono::seconds(1))

void publish_tf_static(const std::string &bag_path)

size_t message_count() const

void BufferMessages()

rosbag2_storage::SerializedBagMessage PopNextMessage()

bool finished() const

void close() const

struct TFBridge

Public Functions

explicit TFBridge(rclcpp::Node::SharedPtr node)

void ProcessTFMessage(std::shared_ptr<rosbag2_storage::SerializedBagMessage> msg) const

Public Members

std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster

std::unique_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster

rclcpp::Serialization<tf2_msgs::msg::TFMessage> serializer