def main():
""" Usage
First log the data using rosbag:
rosbag record /biotac_pub [other topics] -o file_prefix
Many topics can be recorded, but this file only parses biotac msgs.
The call rosrun rosrun biotac_log_parser parse_log_json.py -i bag_file -o output.json
Multiple bag files can be specified on the command line using wildcards, but they need to be
enclosed in quotes:
The call rosrun rosrun biotac_log_parser parse_log_json.py -i "*.bag" -o output.json
"""
parser = OptionParser()
parser.add_option("-i",
"--input_file",
dest="input_file",
help="input bag FILEs. Use wildcards for multiple files",
metavar="FILE",
action="store")
parser.add_option("-o",
"--output_file",
dest="output_file",
help="output FILE",
metavar="FILE")
(options, _) = parser.parse_args()
if options.input_file is None:
rospy.logerr("The input bag has to be specified")
sys.exit()
if options.output_file is None:
rospy.logerr("The output file has to be specified")
sys.exit()
output_file = open(options.output_file, "w")
gen = (glob.glob(f) for f in options.input_file.split())
frame_count = 0
elements = []
for filename in itertools.chain.from_iterable(gen):
rospy.loginfo("Opening bag %s" % filename)
bag = rosbag.Bag(filename)
for _, msg, _ in bag.read_messages(topics="/biotac_pub"):
isinstance(msg, BioTacHand)
msg.header.frame_id = frame_count
toWrite = rosjson_time.ros_message_to_json(msg) + '\n'
elements.append(toWrite)
frame_count += 1
output_file.write("[\n")
output_file.write(",".join(elements))
output_file.write("]\n")
output_file.close()
def biotacCallback(self, data):
#rospy.loginfo(rospy.get_name()+' FRAME ID: %d',self.frame_count)
# Stores the frame count into the message
data.header.frame_id = self.frame_count
# Uses rosjson to convert message to JSON
toWrite = rosjson_time.ros_message_to_json(data) + '\n' + ','
self.fout.write(toWrite)
#Check to see if Elapsed time has run out
if self.node_log_time is not 'inf':
elapsed_time = rospy.get_time() - self.start_time
if elapsed_time >= self.node_log_time:
finish_msg = 'Logging for %f second(s) Complete!' % self.node_log_time
rospy.loginfo(finish_msg)
self.__del__()
rospy.signal_shutdown(finish_msg)
# Move to next frame
self.frame_count += 1