data_generator_executable.cpp

// Copyright 2021 Open Source Robotics Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <memory>

#include "example_interfaces/msg/int32.hpp"
#include "rclcpp/rclcpp.hpp"

#include "rosbag2_cpp/writer.hpp"
#include "rosbag2_cpp/writers/sequential_writer.hpp"
#include "rosbag2_storage/serialized_bag_message.hpp"

using namespace std::chrono_literals;

int main(int, char **)
{
  example_interfaces::msg::Int32 data;
  data.data = 0;
  std::unique_ptr<rosbag2_cpp::Writer> writer_ = std::make_unique<rosbag2_cpp::Writer>();

  writer_->open("big_synthetic_bag");

  writer_->create_topic(
  {
    0u,
    "synthetic",
    "example_interfaces/msg/Int32",
    rmw_get_serialization_format(),
    {},
    ""
  });

  rclcpp::Clock clock;
  rclcpp::Time time_stamp = clock.now();
  for (int32_t ii = 0; ii < 100; ++ii) {
    writer_->write(data, "synthetic", time_stamp);
    ++data.data;
    time_stamp += rclcpp::Duration(1s);
  }

  return 0;
}