go-rosbag

Utilities for working with ROS bag data in go.

rosbag library

The rosbag library contains utilities for reading and writing bag files. The primary focus is on the bag container format, rather than the ROS message serialization format - although there is a ros1msg parser.

Writing a bag file

Write a bag file like this:

f, err := os.Open("my-bag.bag")
if err != nil {
	panic(err)
}

writer, err := rosbag.NewWriter(f)
if err != nil {
	panic(err)
}

err = writer.WriteConnection(&rosbag.Connection{
	Conn: 1,
	Topic: "/foo",
	Data: rosbag.ConnectionHeader{
		Topic: "/foo",
		Type: "Foo",
		MD5Sum: "abc",
		MessageDefinition: []byte{0x01, 0x02, 0x03},

		// optional fields
		CallerID: &callerID,
		Latching: &latching,
	},
})
if err != nil {
	panic(err)
}

for i := 0; i < 100; i++ {
	err = writer.WriteMessage(&rosbag.Message{
		Conn: 0,
		Time: uint64(i),
		Data: []byte{"hello"},
	})
	if err != nil {
		panic(err)
	}
}

Reading a bag file

Read a bag file like this:

f, err := os.Open("my-bag.bag")
if err != nil {
	panic(err)
}

reader, err := rosbag.NewReader(f)
if err != nil {
	panic(err)
}

it, err := reader.Messages()
if err != nil {
	panic(err)
}

for it.More() {
	connection, message, err := it.Next()
	if err != nil {
		panic(err)
	}

	// handle connection and message
}