1、rosbag 写


    #include <rosbag/bag.h>    #include <std_msgs/Int32.h>    #include <std_msgs/String.h>    rosbag::Bag bag;    bag.open("test.bag", rosbag::bagmode::Write);    std_msgs::String str;    str.data = std::string("foo");    std_msgs::Int32 i;    i.data = 42;    bag.write("chatter", ros::Time::now(), str);    bag.write("numbers", ros::Time::now(), i);    bag.close();



2、rosbag读



   

#include <rosbag/bag.h>    #include <rosbag/view.h>    #include <std_msgs/Int32.h>    #include <std_msgs/String.h>    #include <boost/foreach.hpp>    #define foreach BOOST_FOREACH    rosbag::Bag bag;    bag.open("test.bag", rosbag::bagmode::Read);    std::vector<std::string> topics;    topics.push_back(std::string("chatter"));    topics.push_back(std::string("numbers"));    rosbag::View view(bag, rosbag::TopicQuery(topics));    foreach(rosbag::MessageInstance const m, view)    {        std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();        if (s != NULL)            std::cout << s->data << std::endl;        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();        if (i != NULL)            std::cout << i->data << std::endl;    }    bag.close();



C++11版本



    #include <rosbag/bag.h>    #include <rosbag/view.h>    #include <std_msgs/Int32.h>    rosbag::Bag bag;    bag.open("test.bag");  // BagMode is Read by default    for(rosbag::MessageInstance const m: rosbag::View(bag))    {      std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();      if (i != nullptr)        std::cout << i->data << std::endl;    }    bag.close();

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