需求：读取bag文件数据，并将数据输出至终端

[2714048396]

我建立了reader和writer，reader文件写完了#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "rosbag2_cpp/writer.hpp"

class SimpleBagRecorder : public rclcpp::Node
{
public:
SimpleBagRecorder() : Node("simple_bag_recorder_node_cpp")
{
RCLCPP_INFO(this->get_logger(), "消息录制对象创建");

    // 1.创建录制对象
    writer_ = std::make_unique<rosbag2_cpp::Writer>();
    rosbag2_cpp::StorageOptions storage_options;
    storage_options.uri = "my_bag"; // 设置文件路径
    writer_->open(storage_options,{});


    // 3.写数据（创建速度订阅方，回调函数中执行写出操作）
    // writer_->write()
    sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
        "turtle1/cmd_vel", 10,
        std::bind(&SimpleBagRecorder::do_write_msg, this, std::placeholders::_1));
}

private:
std::unique_ptr<rosbag2_cpp::Writer> writer_;
rclcpp::Subscription<rosbag2_storage::SerializedBagMessage>::SharedPtr sub_;

void do_write_msg(std::shared_ptr<rosbag2_storage::SerializedBagMessage> msg)
{
    RCLCPP_INFO(this->get_logger(), "数据写出...");
    writer_->write(msg);
    // std::shared_ptr<rclcpp::SerializedMessage> message, // 被写出的消息
    // const std::string & topic_name,                     // 话题名称
    // const std::string & type_name,                      // 消息类型
    // const rclcpp::Time & time);                         // 时间戳
}

};

int main(int argc, char const *argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<SimpleBagRecorder>());
rclcpp::shutdown();

return 0;

}
wirter文件一直在报错
#include "rclcpp/rclcpp.hpp"
#include "rosbag2_cpp/reader.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "rosbag2_cpp/converter.hpp"

class SimpleBagPlayer : public rclcpp::Node
{
public:
SimpleBagPlayer() : Node("simple_bag_play_node_cpp")
{
RCLCPP_INFO(this->get_logger(), "消息回放对象创建");

    // 1.创建回放对象
    reader_ = std::make_unique<rosbag2_cpp::Reader>();


    // 2.设置被读取的文件
    rosbag2_cpp::StorageOptions storage_options;
    storage_options.uri = "my_bag"; // 设置文件路径
    reader_->open(storage_options,{});
    

    converter_ = std::make_unique<rosbag2_cpp::Converter>("rosbag2_cpp");
    // 3.读消息
    while (reader_->has_next())
    {
        auto msg = reader_->read_next();
        auto twist_msg = converter_->deserialize<geometry_msgs::msg::Twist>(msg);
        RCLCPP_INFO(this->get_logger(), "线速度:%.2f, 角速度:%.2f", twist.linear.x, twist.angular.z);
    }

  
  RCLCPP_INFO(this->get_logger(), "线速度:%.2f, 角速度:%.2f", twist_msg.linear.x, twist_msg.angular.z);
    // 4.关闭文件
    reader_->close();
}

private:
std::unique_ptr<rosbag2_cpp::Reader> reader_;
std::unique_ptr<rosbag2_cpp::Converter> converter_;
};

int main(int argc, char const *argv[])
{
rclcpp::init(argc, argv);
std::make_shared<SimpleBagPlayer>();
rclcpp::shutdown();

return 0;

}
因为我跟的教程是humble版本，但我用的是foxy，一直都没改好