ROSBagExtractor Class

class rosdata.core.rosbag_extractor.ROSBagExtractor(bag, extraction_config: dict, root_output_dir: str)

Extracts data from a ROS Bag file given a YAML extraction config

__init__(bag, extraction_config: dict, root_output_dir: str)

Constructs and pre-processes the data structure for further extraction.

Parameters

• bag (rosbag object) – Opened ROSbag object containing data to be extracted

• extraction_config (dict) – Dictionary of extraction config parameters

• root_output_dir (str) – Root output directory to write data.

extract_data(transform_topic: str = '/tf', static_transform_topic: str = '/tf_static')

Extracts the data from the ROSBag.

Parameters

• transform_topic (str, optional) – used to specify the transform topic. Defaults to “/tf”.

• static_transform_topic (str, optional) – used to specify the transform topic. Defaults to “/tf_static”.