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support ros2 topic pub yaml file input #925
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support ros2 topic pub yaml file input #925
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Signed-off-by: Tomoya Fujita <[email protected]>
Signed-off-by: Tomoya Fujita <[email protected]>
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This enables the following command line option with ros2 topic pub
.
Note that yaml files are saved with ros2 topic echo > xxx.yaml
.
root@tomoyafujita:~/ros2_ws/colcon_ws# cat chatter.yaml
---
data: 'Hello ROS Users'
---
---
data: Hello ROS Developers
---
data: Hello ROS Developers
---
---
data: 'Hello ROS Users'
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 topic pub /chatter std_msgs/msg/String --yaml-file chatter.yaml
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='Hello ROS Users')
publishing #2: std_msgs.msg.String(data='Hello ROS Developers')
publishing #3: std_msgs.msg.String(data='Hello ROS Developers')
publishing #4: std_msgs.msg.String(data='Hello ROS Users')
root@tomoyafujita:~/ros2_ws/colcon_ws# cat tf2.yaml
transforms:
- header:
stamp:
sec: 1721935886
nanosec: 528868866
frame_id: foo
child_frame_id: bar
transform:
translation:
x: 1.0
y: 2.0
z: 3.0
rotation:
x: -0.4747921762038255
y: -0.07596622270177095
z: 0.24006245183344296
w: 0.8433098728485138
---
transforms:
- header:
stamp:
sec: 1721935886
nanosec: 528868866
frame_id: foo
child_frame_id: bar
transform:
translation:
x: 1.0
y: 2.0
z: 3.0
rotation:
x: -0.4747921762038255
y: -0.07596622270177095
z: 0.24006245183344296
w: 0.8433098728485138
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 topic pub /tf_static tf2_msgs/msg/TFMessage --yaml-file tf2.yaml
publisher: beginning loop
publishing #1: tf2_msgs.msg.TFMessage(transforms=[geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1721935886, nanosec=528868866), frame_id='foo'), child_frame_id='bar', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=1.0, y=2.0, z=3.0), rotation=geometry_msgs.msg.Quaternion(x=-0.4747921762038255, y=-0.07596622270177095, z=0.24006245183344296, w=0.8433098728485138)))])
publishing #2: tf2_msgs.msg.TFMessage(transforms=[geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1721935886, nanosec=528868866), frame_id='foo'), child_frame_id='bar', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=1.0, y=2.0, z=3.0), rotation=geometry_msgs.msg.Quaternion(x=-0.4747921762038255, y=-0.07596622270177095, z=0.24006245183344296, w=0.8433098728485138)))])
@mjcarroll @clalancette @sloretz what do you think? this can be useful for test and development. |
CC: @ahcorde if you have time, can you take a look? |
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This is a simplification of a rosbag, not sure about this feature, let's see what other people thing about it
yeah that is true. the difference what i think of is, probably much easier to use and modify the data contents that are saved as yaml via |
Signed-off-by: Tomoya Fujita <[email protected]>
closes #919