Working with ROS 1 Messages¶
Writer Example¶
import sys
from mcap_ros1.writer import Writer
from std_msgs.msg import String
with open(sys.argv[1], "wb") as f:
ros_writer = Writer(f)
for i in range(0, 10):
ros_writer.write_message("/chatter", String(data=f"string message {i}"))
ros_writer.finish()
Reader Example¶
import sys
from mcap_ros1.reader import read_ros1_messages
def main():
for msg in read_ros1_messages(sys.argv[1]):
print(
f"{msg.topic} [{msg.log_time}] ({type(msg.ros_msg).__name__}): {msg.ros_msg.data}"
)
if __name__ == "__main__":
main()