Python: raw_data + easier read_messages interface #50
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liambenson
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lib/ros_message.h
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| const std::string& topic, | ||
| const RosValue::ros_time_t& timestamp, | ||
| const std::string& md5, |
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I'm a little worried that adding these args at the front could cause backwards compatibility issues. Is this a class that is only used internal to embag?
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Theoretically, it would be kind of weird to create the class externally since the msg_def field is private and theres no actual way to get the data without it. Thus, only View can actually interact with the class. I can remove this change though as its not necessary, thought it would just be good cleanup
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I just removed it!
| .def_property_readonly("raw_data", [](std::shared_ptr<Embag::RosMessage> &m) { | ||
| return py::bytes(&m->raw_buffer->at(m->raw_buffer_offset), m->raw_data_len); | ||
| }) |
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Do we also want to add raw=True functionality to the read_messages interface in embag.Bag?
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I could - but to do that (and maintain compatibility with rosbag) I would need to change the constructor of RosMessage and add a new field for the raw message definition.
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Going to leave this for potential future improvement!
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Description of Changes
This adds the ability to get the raw data from a
ROSMessagein python. In addition,Test Plan
Added a test to compare the output of the
raw_dataproperty with whatrosbaggenerates.