Struct Reader 

pub struct Reader {
    pub metadata: Metadata,
    pub connections: Vec<TopicConnection>,
    /* private fields */
}

Fields

metadata: Metadata

connections: Vec<TopicConnection>

Implementations

impl Reader

The Reader struct provides an interface for reading message data from a ROS bag file.

The Reader initializes with the path to a ROS bag directory and reads metadata and message data from the storage. It supports filtering messages by time and handling each message through a user-defined function.

Errors

• Returns an error if the ROS bag version is not supported.
• Returns an error if the compression mode is not supported.
• Returns an error if a non-CDR serialization format is found in any topic.
• Returns an error if the storage identifier is not ‘sqlite3’.

Note

• This struct assumes that the ROS bag files are in sqlite3 format.
• The handle_messages method allows for processing of individual messages.

pub fn new(path: impl AsRef<Path>) -> Result<Self>

pub fn open(&mut self) -> Result<()>

pub fn handle_messages( &mut self, handle_func: impl Fn((i64, i64, Vec<u8>)) -> Result<()>, start: Option<i64>, stop: Option<i64>, ) -> Result<()>

pub fn duration(&self) -> i64

pub fn start_time(&self) -> i64

pub fn end_time(&self) -> i64

pub fn message_count(&self) -> i32

pub fn compression_format(&self) -> String

pub fn compression_mode(&self) -> Option<String>

pub fn topics(&self) -> HashMap<String, TopicInfo>

pub fn ros_distro(&self) -> String