Description

Rosbag Read (RR) Server

Service Provided

• Read from a rosbag file one message at a time for every topic
• Publish each message at its topic

Rosbag Read Client

Functionality

• Listen to a specific topic.
• When a message from this topic is received, ask a RR service from the server.

Server-Client Loop

• Call the service of the RR server once to start the loop
• The openpose_utils pipeline receives the messages from the rosbag file and eventually publishes a list of 3D keypoints.
• The client listens to this topic.
• The loop stops when there is a topic in the rosbag file with no other messages.

Run Code

Open a new terminal and run an openpose_utils launch file.

Example:

    roslaunch openpose_utils_launch whole_pipeline_xtion_with_marker.launch

In a new terminal run

    roslaunch bag_read_service bag_read_service.launch bag_file:="filename"

The bag_read_service.launch starts the server readBagService.py. In the bag_read_service.launch update the bag_file parameter with the name of the file you want to read. readBagService.py provides the service of reading the rosbag file and publishes its topics.

The client node clientBag.py, which is also initiated, uses the listen_topic parameter to define which topic the client should listen at. Every time that there is a new message on this topic the client requests the service of readBagService.py.

In a new terminal run

    rosservice call /next_msg

to read the first message from the rosbag file and start the pipeline.