rigid_body_motion.ros.RosbagWriter¶

class rigid_body_motion.ros.RosbagWriter(bag_file)[source]¶

Bases: object

Writer for motion topics to rosbag files.

__init__(bag_file)[source]¶

Constructor.

Parameters

bag_file: str: Path to rosbag file.

Methods

`__init__`(bag_file)	Constructor.
`write_transform_stamped`(timestamps, …)	Write multiple geometry_msgs/TransformStamped messages.
`write_transform_stamped_dataset`(ds, topic, …)	Write a dataset as geometry_msgs/TransformStamped messages.

write_transform_stamped(timestamps, translation, rotation, topic, frame, child_frame)[source]¶

Write multiple geometry_msgs/TransformStamped messages.

Parameters

timestamps: array_like, shape (n_timestamps,): Array of timestamps.
translation: array_like, shape (n_timestamps, 3): Array of translations.
rotation: array_like, shape (n_timestamps, 4): Array of rotations.
topic: str: Topic of the messages.
frame: str: Parent frame of the transform.
child_frame: str: Child frame of the transform.

write_transform_stamped_dataset(ds, topic, frame, child_frame, timestamps='time', translation='position', rotation='orientation')[source]¶

Write a dataset as geometry_msgs/TransformStamped messages.

Parameters

ds: xarray.Dataset: Dataset containing timestamps, translation and rotation
topic: str: Topic of the messages.
frame: str: Parent frame of the transform.
child_frame: str: Child frame of the transform.
timestamps: str, default ‘time’: Name of the dimension containing the timestamps.
translation: str, default ‘position’: Name of the variable containing the translation.
rotation: str, default ‘orientation’: Name of the variable containing the rotation.