Read telemetry data from rosbag

!pip3 install rosbag --extra-index-url https://rospypi.github.io/simple/

Looking in indexes: https://pypi.org/simple, https://rospypi.github.io/simple/
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from google.colab import drive
drive.mount('/content/drive')

Drive already mounted at /content/drive; to attempt to forcibly remount, call drive.mount("/content/drive", force_remount=True).

import rosbag
import pandas as pd
import matplotlib.pyplot as plt
import numpy as np
from datetime import datetime as dt
import matplotlib.animation as animation
from matplotlib import rc
import PIL
from PIL import Image

Failed to load Python extension for LZ4 support. LZ4 compression will not be available.

def build_telemetry(path_to_bag):

  b_laps = rosbag.Bag(path_to_bag)
  acc_x, acc_y, acc_z, speed, steer, throttle, brake, gear, time = [], [], [], [], [], [], [], [], []

  for topic, msg, t in b_laps.read_messages(topics='/carla/ego_vehicle/vehicle_status'):
    time.append(t)
    acc_x.append(msg.acceleration.linear.x)
    acc_y.append(msg.acceleration.linear.y)
    acc_z.append(msg.acceleration.linear.z)
    speed.append(msg.velocity)
    steer.append(msg.control.steer)
    throttle.append(msg.control.throttle)
    brake.append(msg.control.brake)
    gear.append(msg.control.gear)

  acc = np.linalg.norm(np.vstack((acc_x, acc_y, acc_z)).T, axis=1)
  telemetry_dict = {'time': time, 'speed': speed, 'acceleration': acc, 'steering angle': steer, 'throttle': throttle, 'brake': brake, 'gear': gear}
  telemetry = pd.DataFrame(telemetry_dict)

  return telemetry