// Copyright (c) 2010, Willow Garage, Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Willow Garage, Inc. nor the names of its
//       contributors may be used to endorse or promote products derived from
//       this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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#include "rosbag/bag.h"
#include "std_msgs/String.h"
#include "std_msgs/Int32.h"

int main()
{
  // %Tag(WRITE)%
  rosbag::Bag bag;
  bag.open("test.bag", rosbag::bagmode::Write);

  std_msgs::String str;
  str.data = std::string("foo");

  std_msgs::Int32 i;
  i.data = 42;

  bag.write("chatter", ros::Time::now(), str);
  bag.write("numbers", ros::Time::now(), i);

  bag.close();
  // %EndTag(WRITE)%
}