feat: publish the topic in rosbag as pre-task before play rosbag#192
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MasatoSaeki merged 10 commits intodevelopfrom Aug 17, 2025
Merged
feat: publish the topic in rosbag as pre-task before play rosbag#192MasatoSaeki merged 10 commits intodevelopfrom
MasatoSaeki merged 10 commits intodevelopfrom
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Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
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Pull Request Overview
This PR adds functionality to publish specific topics from a rosbag file as a pre-task before the main rosbag playback begins. This enables publishing essential topics (like camera_info) that need to be available before the actual simulation starts.
- Adds a new ROS2 node to read and publish selected topics from rosbag files
- Integrates the pre-task publishing into the launch sequence with proper timing
- Adds configuration parameter for specifying which topics to publish
Reviewed Changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| scripts/publish_topic_from_rosbag_node.py | New ROS2 node that reads rosbag and publishes specified topics |
| driving_log_replayer_v2/publish_topic_from_rosbag.py | Core rosbag reading functionality with topic filtering |
| driving_log_replayer_v2/launch/rosbag.py | Launch integration with pre-task execution before main rosbag playback |
| driving_log_replayer_v2/launch/perception.py | Adds launch argument for topic selection parameter |
| CMakeLists.txt | Installs the new script executable |
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
|
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Types of PR
Description
This PR publishes the topic in rosbag as pre-task before play rosbag
sample command
How to review this PR
https://evaluation.ci.tier4.jp/evaluation/reports/2bbeba10-0f59-5234-8743-56a37bbf7d7f?project_id=prd_jt
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