play mcap in loop

one2z/scripts/ros1_play_mcap.py

@@ -20,9 +20,15 @@
 
 def main():
  rospy.init_node("play_mcap")
+ while not rospy.is_shutdown():
+ play_mcap(sys.argv[1])
+ rospy.loginfo("looping")
+ rospy.sleep(1.0)
+
+def play_mcap(name):
  decoder = DecoderFactory()
  protobuf_decoder = ProtobufDecoderFactory()
- with open(sys.argv[1], "rb") as f:
+ with open(name, "rb") as f:
  reader = make_reader(f, decoder_factories=[decoder])
  schemas = reader.get_summary().schemas
  for schema_id, schema in schemas.items():
@@ -103,6 +109,7 @@ def main():
  pubs[channel.topic] = rospy.Publisher(channel.topic, msg_type, queue_size=3)
  # second part of avoided decoding, is avoiding encoding via AnyMsg
  msg = AnyMsg()
+ # print(f"{[d for d in message.data]}")
  msg._buff = message.data
  pubs[channel.topic].publish(msg)