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- package test
- import (
- "cicv-data-closedloop/pjisuv_msgs"
- "fmt"
- "log"
- "os"
- "testing"
- "time"
- "github.com/bluenviron/goroslib/v2"
- "github.com/foxglove/go-rosbag"
- )
- func TestWriteRosBag(t *testing.T) {
-
- filePath := "C:\\Users\\mlxengingin\\Desktop\\1118\\my-bag.bag"
-
- f, err := os.OpenFile(filePath, os.O_RDWR|os.O_CREATE|os.O_TRUNC, 0644)
- if err != nil {
-
- panic(fmt.Errorf("无法打开或创建文件: %v", err))
- }
- defer f.Close()
-
- t.Log("文件已成功打开(或创建并清空)。")
- writer, err := rosbag.NewWriter(f)
- if err != nil {
- panic(err)
- }
- err = writer.WriteConnection(&rosbag.Connection{
- Conn: 1,
- Topic: "/cicv_location",
- Data: rosbag.ConnectionHeader{
- Topic: "/cicv_location",
- Type: "perception_msgs/PerceptionLocalization",
- MD5Sum: "b871ae769d4b537baab00d1c75ff3891",
- MessageDefinition: []byte("定位信息"),
-
-
-
- },
- })
- if err != nil {
- panic(err)
- }
-
-
- n, err := goroslib.NewNode(goroslib.NodeConf{
- Name: "goroslib_sub",
- MasterAddress: "127.0.0.1:11311",
- })
- if err != nil {
- panic(err)
- }
- defer n.Close()
-
- sub, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
- Node: n,
- Topic: "/cicv_location",
- Callback: func(msg *pjisuv_msgs.PerceptionLocalization) {
- log.Printf("Incoming: %+v\n", msg)
- nowInt := time.Now().Unix()
- data := pjisuv_msgs.PerceptionLocalization{}
- err = writer.WriteMessage(&rosbag.Message{
- Conn: 1,
- Time: uint64(nowInt),
- Data: []byte(msg),
- })
- if err != nil {
- panic(err)
- }
- t.Log("当前时间", uint64(nowInt))
- t.Log("保存数据", data)
- },
- })
- if err != nil {
- panic(err)
- }
- defer sub.Close()
-
-
-
-
-
- }
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