ark::ros::BagReader

Defined in header “ark/ros/rosbag_reader.hh”.

This class allows you to read ROS ‘bag’ files and pull out various pieces of metadata and/or objects.

BagReader(const std::filesystem::path & path)
Constructs a new bag reader, pointing at the given filename.
~BagReader()
Cleans up resources associated with this reader.
std::optional< BaggedObject > step()
Steps through the bag, returning one message at a time. Returns an empty optional when all messages have been returned.
std::vector< BagTopic > topics()
Returns all topic and schema information. Note that this information can update while a bag file progresses, so the results of this may change over time.