pyrosbag package¶
Module contents¶
Note that, in order to access the data within the bag file, the
rosbag_python
package is extremely convenient. It is available on PyPI.
pyrosbag.pyrosbag module¶
Programmatically control a ROS bag file.
This module implements the base class, and the various functions.
Currently implemented are:
rosbag play
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class
pyrosbag.pyrosbag.
Bag
(filenames)[source]¶ Bases:
object
Open and manipulate a bag file programmatically.
Parameters: filenames (StringTypes | List[StringTypes]) – The location of the bag files. -
filenames
¶ List[StringTypes] – The location of the bag files.
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process
¶ subprocess.Popen – The process containing the running bag file.
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is_running
¶ Check whether the bag file is running.
Returns: The bag file is running. Return type: bool
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send
(string)[source]¶ Write something to process stdin.
Parameters: string (str) – The string to write. Raises: BagNotRunningError
– If interaction is attempted when the bag file is not running.
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stop
()[source]¶ Stop a running bag file.
Raises: BagNotRunningError
– If the bag file is not running.
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wait
()[source]¶ Block until process is complete.
Raises: BagNotRunningError
– If the bag file is not running.
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exception
pyrosbag.pyrosbag.
BagError
[source]¶ Bases:
exceptions.Exception
Catch bag player exceptions.
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exception
pyrosbag.pyrosbag.
BagNotRunningError
(action='talk to')[source]¶ Bases:
pyrosbag.pyrosbag.BagError
Raised when interaction is attempted with a bag file which is not running.
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class
pyrosbag.pyrosbag.
BagPlayer
(filenames)[source]¶ Bases:
pyrosbag.pyrosbag.Bag
Play Bag files.
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play
(wait=False, stdin=-1, stdout=None, stderr=None, quiet=None, immediate=None, start_paused=None, queue_size=None, publish_clock=None, clock_publish_freq=None, delay=None, publish_rate_multiplier=None, start_time=None, duration=None, loop=None, keep_alive=None)[source]¶ Play the bag file.
Parameters: - wait (Optional[Bool]) – Wait until completion.
- stdin (Optional[file]) – The stdin buffer. Default is subprocess.PIPE.
- stdout (Optional[file]) – The stdout buffer.
- stderr (Optional[file]) – The stderr buffer.
- quiet (Optional[Bool]) – Suppress console output.
- immediate (Optional[Bool]) – Play back all messages without waiting.
- start_paused (Optional[Bool]) – Start in paused mode.
- queue_size (Optional[int]) – Set outgoing queue size. Default is 100.
- publish_clock (Optional[Bool]) – Publish the clock time.
- clock_publish_freq (Optional[float]) – The frequency, in Hz, at which to publish the clock time. Default is 100.
- delay (Optional[float]) – The number of seconds to sleep afer every advertise call (e.g., to allow subscribers to connect).
- publish_rate_multiplier (Optional[float]) – The factor by which to multiply the publish rate.
- start_time (Optional[float]) – The number of seconds into the bag file at which to start.
- duration (Optional[float]) – The number of seconds from the start to play.
- loop (Optional[Bool]) – Loop playback.
- keep_alive (Optional[Bool]) – Keep alive past end of bag (e.g. for publishing latched topics).
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exception
pyrosbag.pyrosbag.
MissingBagError
[source]¶ Bases:
pyrosbag.pyrosbag.BagError
Bag file was not specified.
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msg
= 'No Bag files were specified.'¶
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