Class GlobalRecorder

Class Documentation

class GlobalRecorder

GlobalRecorder concept interface.

Note

this defines an private concept struct, which each instance has to implement

Note

a type erasure pattern in implemented here to avoid strict inheritance, thus each possible publisher instance has to implement the virtual functions mentioned in the concept

Public Functions

GlobalRecorder(const std::string &prefix_topic)

Constructor for recorder interface.

void startRecord(const std::string &prefix_bag = "")

Initialize the recording of the ROSbag.

std::string stopRecord(const std::string &robot_ip = "<ROBOT_IP>")

Terminate the recording of the ROSbag.

template<class T>
inline void write(const std::string &topic, const T &msg, const rclcpp::Time &time = helpers::Time::now())

Insert data into the ROSbag.

void write(const std::string &topic, const std::vector<geometry_msgs::msg::TransformStamped> &msgtf)
bool isStarted()

Check if the ROSbag is opened.