def info_cmd(argv):
parser = optparse.OptionParser(usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]',
description='Summarize the contents of one or more bag files.')
parser.add_option('-y', '--yaml', dest='yaml', default=False, action='store_true', help='print information in YAML format')
parser.add_option('-k', '--key', dest='key', default=None, action='store', help='print information on the given key')
parser.add_option( '--freq', dest='freq', default=False, action='store_true', help='display topic message frequency statistics')
(options, args) = parser.parse_args(argv)
if len(args) == 0:
parser.error('You must specify at least 1 bag file.')
if options.key and not options.yaml:
parser.error('You can only specify key when printing in YAML format.')
for i, arg in enumerate(args):
try:
b = Bag(arg, 'r', skip_index=not options.freq)
if options.yaml:
info = b._get_yaml_info(key=options.key)
if info is not None:
print info
else:
print b
b.close()
if i < len(args) - 1:
print '---'
except ROSBagUnindexedException, ex:
print >> sys.stderr, 'ERROR bag unindexed: %s. Run rosbag reindex.' % arg
except ROSBagException, ex:
print >> sys.stderr, 'ERROR reading %s: %s' % (arg, str(ex))
def info_cmd(argv):
parser = optparse.OptionParser(usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]',
description='Summarize the contents of one or more bag files.')
parser.add_option('-y', '--yaml', dest='yaml', default=False, action='store_true', help='print information in YAML format')
parser.add_option('-k', '--key', dest='key', default=None, action='store', help='print information on the given key')
parser.add_option( '--freq', dest='freq', default=False, action='store_true', help='display topic message frequency statistics')
(options, args) = parser.parse_args(argv)
if len(args) == 0:
parser.error('You must specify at least 1 bag file.')
if options.key and not options.yaml:
parser.error('You can only specify key when printing in YAML format.')
for i, arg in enumerate(args):
try:
b = Bag(arg, 'r', skip_index=not options.freq)
if options.yaml:
info = b._get_yaml_info(key=options.key)
if info is not None:
print info
else:
print b
b.close()
if i < len(args) - 1:
print '---'
except ROSBagUnindexedException, ex:
print >> sys.stderr, 'ERROR bag unindexed: %s. Run rosbag reindex.' % arg
except ROSBagException, ex:
print >> sys.stderr, 'ERROR reading %s: %s' % (arg, str(ex))
def bag_op(inbag_filenames,
allow_unindexed,
copy_fn,
op,
output_dir=None,
force=False,
quiet=False):
for inbag_filename in inbag_filenames:
# Check we can read the file
try:
inbag = Bag(inbag_filename, 'r', allow_unindexed=allow_unindexed)
except ROSBagUnindexedException:
print >> sys.stderr, 'ERROR bag unindexed: %s. Run rosbag reindex.' % inbag_filename
continue
except (ROSBagException, IOError), ex:
print >> sys.stderr, 'ERROR reading %s: %s' % (inbag_filename,
str(ex))
continue
# Determine whether we should copy the bag
copy = copy_fn(inbag)
inbag.close()
# Determine filename for output bag
if output_dir is None:
outbag_filename = inbag_filename
else:
outbag_filename = os.path.join(output_dir,
os.path.split(inbag_filename)[1])
backup_filename = None
if outbag_filename == inbag_filename:
# Rename the input bag to ###.orig.###, and open for reading
backup_filename = '%s.orig%s' % os.path.splitext(inbag_filename)
if not force and os.path.exists(backup_filename):
if not quiet:
print >> sys.stderr, 'Skipping %s. Backup path %s already exists.' % (
inbag_filename, backup_filename)
continue
try:
if copy:
shutil.copy(inbag_filename, backup_filename)
else:
os.rename(inbag_filename, backup_filename)
except OSError, ex:
print >> sys.stderr, 'ERROR %s %s to %s: %s' % (
'copying' if copy else 'moving', inbag_filename,
backup_filename, str(ex))
continue
source_filename = backup_filename
def bag_op(inbag_filenames, allow_unindexed, copy_fn, op, output_dir=None, force=False, quiet=False):
for inbag_filename in inbag_filenames:
# Check we can read the file
try:
inbag = Bag(inbag_filename, 'r', allow_unindexed=allow_unindexed)
except ROSBagUnindexedException:
print >> sys.stderr, 'ERROR bag unindexed: %s. Run rosbag reindex.' % inbag_filename
continue
except (ROSBagException, IOError), ex:
print >> sys.stderr, 'ERROR reading %s: %s' % (inbag_filename, str(ex))
continue
# Determine whether we should copy the bag
copy = copy_fn(inbag)
inbag.close()
# Determine filename for output bag
if output_dir is None:
outbag_filename = inbag_filename
else:
outbag_filename = os.path.join(output_dir, os.path.split(inbag_filename)[1])
backup_filename = None
if outbag_filename == inbag_filename:
# Rename the input bag to ###.orig.###, and open for reading
backup_filename = '%s.orig%s' % os.path.splitext(inbag_filename)
if not force and os.path.exists(backup_filename):
if not quiet:
print >> sys.stderr, 'Skipping %s. Backup path %s already exists.' % (inbag_filename, backup_filename)
continue
try:
if copy:
shutil.copy(inbag_filename, backup_filename)
else:
os.rename(inbag_filename, backup_filename)
except OSError, ex:
print >> sys.stderr, 'ERROR %s %s to %s: %s' % ('copying' if copy else 'moving', inbag_filename, backup_filename, str(ex))
continue
source_filename = backup_filename
def info_cmd(argv):
parser = optparse.OptionParser(
usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]',
description='Summarize the contents of one or more bag files.')
parser.add_option("-y",
"--yaml",
dest="yaml",
default=False,
action="store_true",
help="print information in YAML format")
parser.add_option("-k",
"--key",
dest="key",
default=None,
action="store",
help="print information on the given key")
(options, args) = parser.parse_args(argv)
if len(args) == 0:
parser.error('You must specify at least 1 bag file.')
if options.key and not options.yaml:
parser.error('You can only specify key when printing in YAML format.')
for i, arg in enumerate(args):
try:
b = Bag(arg)
if options.yaml:
info = b._get_yaml_info(key=options.key)
if info is not None:
print info
else:
print b
b.close()
if i < len(args) - 1:
print '---'
except ROSBagUnindexedException, ex:
print >> sys.stderr, 'ERROR bag unindexed: %s. Run rosbag reindex.' % arg
except ROSBagException, ex:
print >> sys.stderr, 'ERROR reading %s: %s' % (arg, str(ex))
source_filename = outbag_filename
else:
source_filename = inbag_filename
try:
inbag = Bag(source_filename, 'r', allow_unindexed=allow_unindexed)
# Open the output bag file for writing
try:
if copy:
outbag = Bag(outbag_filename, 'a', allow_unindexed=allow_unindexed)
else:
outbag = Bag(outbag_filename, 'w')
except (ROSBagException, IOError), ex:
print >> sys.stderr, 'ERROR writing to %s: %s' % (outbag_filename, str(ex))
inbag.close()
continue
# Perform the operation
try:
op(inbag, outbag, quiet=quiet)
except ROSBagException, ex:
print >> sys.stderr, '\nERROR operating on %s: %s' % (source_filename, str(ex))
inbag.close()
outbag.close()
continue
outbag.close()
inbag.close()
except KeyboardInterrupt:
source_filename = outbag_filename
else:
source_filename = inbag_filename
try:
inbag = Bag(source_filename, 'r', allow_unindexed=allow_unindexed)
# Open the output bag file for writing
try:
if copy:
outbag = Bag(outbag_filename, 'a', allow_unindexed=allow_unindexed)
else:
outbag = Bag(outbag_filename, 'w')
except (ROSBagException, IOError), ex:
print >> sys.stderr, 'ERROR writing to %s: %s' % (outbag_filename, str(ex))
inbag.close()
continue
# Perform the operation
try:
op(inbag, outbag, quiet=quiet)
except ROSBagException, ex:
print >> sys.stderr, '\nERROR operating on %s: %s' % (source_filename, str(ex))
inbag.close()
outbag.close()
continue
outbag.close()
inbag.close()
except KeyboardInterrupt:
