Script to load strokelitude data from a .bag file

loadBag.py

import sys, os
import numpy as np
import roslib
roslib.load_manifest('rosbag')
import rosbag

def loadBag(inFileName):
    """
    Script to import strokelitude bag file
    usage: outDict =  loadBag(inFileName)

    PTW 02/04/12
    """
    if inFileName[-4:] != '.bag':
        inFileName = inFileName + '.bag'

    bag = rosbag.Bag(inFileName)

    timeSec = list()
    leftWingRad = list()
    rightWingRad = list()
    for topic, msg, t in bag.read_messages():
        if topic == '/strokelitude' or topic == 'strokelitude':
            timeSec.append(msg.header.stamp.secs + msg.header.stamp.nsecs*float(1e-9))
            leftWingRad.append(msg.left_wing_angle_radians)
            rightWingRad.append(msg.right_wing_angle_radians)

    timeSec = np.array(timeSec)
    leftWingRad=np.array(leftWingRad)
    rightWingRad = np.array(rightWingRad)
    
    outDict = {'timeSec':timeSec, 'leftWingRad':leftWingRad, 'rightWingRad':rightWingRad}
    return outDict