ROS1 support for the Python MCAP library
Project description
Python MCAP Ros1 support
This package provides ROS1 support for the Python MCAP file format reader & writer.
Installation
You can install directly via pip.
pip install mcap-ros1-support
Reading ROS1 Messages
# Reading from a MCAP file
from mcap_ros1.reader import read_ros1_messages
for msg in read_ros1_messages("my_data.mcap"):
print(f"{msg.topic}: f{msg.ros_msg}")
Writing ROS1 Messages
from mcap_ros1.writer import Writer as Ros1Writer
from std_msgs.msg import String
output = open("example.mcap", "w+b")
ros_writer = Ros1Writer(output=output)
for i in range(0, 10):
ros_writer.write_message("chatter", String(data=f"string message {i}"))
ros_writer.finish()
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