ROS¶

flowcean.ros loads ROS bag data for use in Flowcean environments.

ros ¶

Classes¶

RosbagError ¶

Bases: Exception

Dataframe conversion error.

Functions:¶

load_rosbag ¶

load_rosbag(path: str | PathLike[str], topics: dict[str, list[str]], *, message_paths: Iterable[str | PathLike[str]] | None = None, cache: bool = True, cache_path: str | PathLike[str] | None = None) -> LazyFrame

Load a ROS2 Humble rosbag file and convert it to a Polars LazyFrame.

The structure of the data is inferred from the message definitions. If a message definition is not found in the ROS2 Humble typestore, it is added from the provided paths. Once all the message definitions are added, the data is loaded from the rosbag file.

Parameters:

Name	Type	Description	Default
`path`	`str \| PathLike[str]`	Path to the rosbag.	required
`topics`	`dict[str, list[str]]`	Dictionary of topics to load (`topic: [paths]`).	required
`message_paths`	`Iterable[str \| PathLike[str]] \| None`	List of paths to additional message definitions.	`None`
`cache`	`bool`	Whether to cache the data to a Parquet file.	`True`
`cache_path`	`str \| PathLike[str] \| None`	Path to the cache file. If None, defaults to the same directory as the rosbag file with a .parquet extension.	`None`