mirror of
https://github.com/introlab/rtabmap_ros.git
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80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
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/*
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Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved. (BSD-3-Clause, see the repository root.)
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*/
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#ifndef RTABMAP_ODOM_BAG_PLAYBACK_HPP_
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#define RTABMAP_ODOM_BAG_PLAYBACK_HPP_
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#include <rclcpp/serialization.hpp>
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#include <rosbag2_cpp/reader.hpp>
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#include <string>
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#include <vector>
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#include "test_data.hpp"
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/**
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* @file
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* @brief Reads recorded messages out of a bag, for tests that need real sensor input.
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*
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* The messages are read and replayed by the test itself rather than by `ros2 bag play`:
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* no second process, no wall-clock pacing, and the test controls exactly when each
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* message reaches the node. What the recording provides is the part that cannot be
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* written by hand -- a real driver's cloud layout and a dense TF history around it.
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*/
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namespace rtabmap_odom_test {
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/**
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* @brief The Ouster recording in test/data/lidar; see that directory's README.
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*
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* Two sweeps half a mast turn apart, from a platform that never moves: the only thing
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* between them is the mast's rotation, which TF describes in full.
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*/
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inline std::string ousterHalfTurnBag()
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{
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return testDataRoot() + "/lidar/ouster_half_turn";
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}
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/**
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* @brief Every message recorded on @p topic, deserialized.
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*
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* Returns an empty vector if the bag or the topic is missing, which the caller is
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* expected to assert on -- a silently empty fixture would make a test pass for the wrong
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* reason.
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*/
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template <typename MsgT>
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std::vector<MsgT> readBagMessages(const std::string & bagPath, const std::string & topic)
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{
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std::vector<MsgT> messages;
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rosbag2_cpp::Reader reader;
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try
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{
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reader.open(bagPath);
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}
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catch(const std::exception & e)
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{
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return messages;
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}
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rclcpp::Serialization<MsgT> serialization;
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while(reader.has_next())
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{
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const std::shared_ptr<rosbag2_storage::SerializedBagMessage> message = reader.read_next();
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if(message->topic_name != topic)
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{
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continue;
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}
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rclcpp::SerializedMessage serialized(*message->serialized_data);
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MsgT deserialized;
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serialization.deserialize_message(&serialized, &deserialized);
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messages.push_back(deserialized);
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}
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return messages;
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}
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} // namespace rtabmap_odom_test
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#endif /* RTABMAP_ODOM_BAG_PLAYBACK_HPP_ */
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