Description

Rosbag Read (RR) Server

Service Provided

• Reads from a rosbag one message at a time for every topic
• Publish each message at its topic

Rosbag Read Client

Functionality

• Listens to a specific topic.
• When a message from this topic is received, asks a RR service.

Note: Define the topic name in the bag.launch and the message type in the clientBag.py.

Server-Client Loop

• Call the service once to start the loop
• When the client listens to its specified topic, it makes the next service call.
• The loop stops when there is no other message.

Run Code

In a new terminal run

    roslaunch bag_read_service bag_read_service.launch bag_file:="filename"

In a new terminal run

    rosservice call /next_msg

to read the first message from the rosbag file and start the pipeline.