ROSbag Reader for .NET

Handle ROS bag files with ease

ROS Bag Reader allows you to process ROS bag files.

Installation

ROS Message Parser for .Net is available as NuGet Package.

dotnet add package RobSharper.Ros.BagReader

Supported .NET versions

• .NET Standard 2.0
  • .NET Core 2.0 or later
  • .NET Framework 4.6.1 or later
  • Mono 5.4 or later
  • Xamarin.iOS 10.14 or later
  • Xamarin.Mac 3.8 or later
  • Xamarin.Android 8.0 or later
  • Universal Windows Platform 10.0.16299 or later

Usage

See RobSharper.Ros.BagReader.Examples Project.

Read messages from ROSBAG

public void Read_bag_and_message_data()
{
    // Open rosbag
    var bag = BufferBag.Create(ExampleBag.FilePath);

    // Create a RobSharper.MessageEssentiols Serializer
    var serializer = new RosMessageSerializer(new MessageTypeRegistry());

    // Filter messages
    var chatterMessages = bag.Messages
        .Where(message => message.Connection.DataTopic.Equals("/chatter"));

    // Iterate over filtered messages
    foreach (var message in chatterMessages)
    {
        var messageData = message.Message.Data;
        var stringMessage = serializer.Deserialize<StringMessage>(messageData);

        Console.WriteLine(stringMessage.Data);
    }
}

Types of Bag readers

There are different *Bag classes for processing ROS bag files. All implement the IBag interface.

For handling small bag files in memory use BufferBag. You can load a BufferBag based on a file path, a stream or a byte[] buffer.

For handling large bag files use FileBag or StreamBag. You can process bags based on a file path or a stream without loading it into memory.

License

This project is licensed under the BSD 3-clause license. Learn more