Usage

To use ROS Bag Python Controller in a project, just import whatever components you need:

import pyrosbag as prb

For instance, to forward user input:

with prb.BagPlayer("example.bag") as example:
    example.play()
    while example.is_running():
        inputs = input()
        kotaro.send(inputs)

Or, to play the bag file intermittently:

import time

INTERVAL = 3  # seconds

with BagPlayer("example.bag") as example:
    example.play()
    while example.is_running():
        # Run for INTERVAL seconds.
        time.sleep(INTERVAL)

        # Pause for INTERVAL seconds.
        # While paused, step through at a rate of once a second.
        example.pause()
        for _ in range(INTERVAL - 1):
            time.sleep(1)
            example.step()
        time.sleep(1)

        # Resume playing the bag file.
        example.resume()