ros

README

ros utilities

MCAP conversion utilities for ROS bags.

Documentation

Index

• Constants
• Variables
• func Bag2MCAP(w io.Writer, r io.Reader, opts *mcap.WriterOptions, ...) error
• func DB3ToMCAP(w io.Writer, db *sql.DB, opts *mcap.WriterOptions, searchdirs []string, ...) error
• type BagOp

Constants

const (
	OpBagHeader      = 0x03
	OpBagChunk       = 0x05
	OpBagConnection  = 0x07
	OpBagMessageData = 0x02
	OpBagIndexData   = 0x04
	OpBagChunkInfo   = 0x06
)

Variables

var (
	BagMagic = []byte("#ROSBAG V2.0\n")
)

var (
	ErrTooManyConnections = fmt.Errorf("bag contains connection ID > %d", math.MaxUint16)
)

var MessageDefinitionSeparator = []byte(
	"================================================================================\n",
)

var Primitives = map[string]bool{
	"bool":     true,
	"int8":     true,
	"uint8":    true,
	"int16":    true,
	"uint16":   true,
	"int32":    true,
	"uint32":   true,
	"int64":    true,
	"uint64":   true,
	"float32":  true,
	"float64":  true,
	"string":   true,
	"time":     true,
	"duration": true,
	"char":     true,
	"byte":     true,
}

Functions

func Bag2MCAP

func Bag2MCAP(w io.Writer, r io.Reader, opts *mcap.WriterOptions, messageCallbacks ...func([]byte) error) error

func DB3ToMCAP

func DB3ToMCAP(w io.Writer,
	db *sql.DB,
	opts *mcap.WriterOptions,
	searchdirs []string,
	callbacks ...func([]byte) error,
) error

Types

type BagOp

type BagOp byte