cicv_data_closed_loop/test/rosbag_write_test.go

package test

import (
	"fmt"
	"os"
	"testing"

	"github.com/foxglove/go-rosbag"
)

func TestWriteRosBag(t *testing.T) {

	// Check if the file exists, if not create it
	f, err := os.OpenFile("my-bag.bag", os.O_RDWR|os.O_CREATE, 0644)
	if err != nil {
		panic(err)
	}
	defer func(f *os.File) {
		err := f.Close()
		if err != nil {
			fmt.Printf("Error closing file: %s\n", err)
		}
	}(f)

	writer, err := rosbag.NewWriter(f)
	if err != nil {
		panic(err)
	}

	err = writer.WriteConnection(&rosbag.Connection{
		Conn:  1,
		Topic: "/foo",
		Data: rosbag.ConnectionHeader{
			Topic:             "/foo",
			Type:              "Foo",
			MD5Sum:            "abc",
			MessageDefinition: []byte{0x01, 0x02, 0x03},

			//// optional fields
			//CallerID: &callerID,
			//Latching: &latching,
		},
	})
	if err != nil {
		panic(err)
	}

	for i := 0; i < 100; i++ {
		data := "hello"
		err = writer.WriteMessage(&rosbag.Message{
			Conn: 0,
			Time: uint64(i),
			Data: []byte(data),
		})
		if err != nil {
			panic(err)
		}
		fmt.Println("保存数据", data)
	}

}