TF#
TF import tool can write amber_mcap.tf2_amber.TransformStamped python object to mcap file as tf2_msgs/msg/TFMessage in ROS 2.
How to use#
config = TfImporterConfig()
config.rosbag_path = "output.mcap" # Path to output mcap rosbag file.
importer = TfImporter(config)
sample_data = TransformStamped()
sample_data.child_frame_id = "base_link"
sample_data.header.frame_id = "map"
sample_data.header.stamp.nanosec = 0
sample_data.header.stamp.sec = 0
sample_data.transform.translation.x = 1
importer.write(sample_data)
sample_data.header.stamp.sec = 10
importer.write(sample_data)
importer.finish()
Then, run ros2 bag info output.mcap
closing.
Files: tests/output.mcap
Bag size: 4.0 KiB
Storage id: mcap
Duration: 10.000000000s
Start: Jan 1 1970 09:00:00.000000000 (0.000000000)
End: Jan 1 1970 09:00:10.000000000 (10.000000000)
Messages: 2
Topic information: Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 2 | Serialization Format: cdr
View rosbag data in foxglove#
