add_header_time_offset.py
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00001 #!/usr/bin/python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 PKG = 'bag_tools' # this package name
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 import rosbag
00038 import os
00039 import sys
00040 import argparse
00041 
00042 def add_offset(inbags, topics, offset):
00043   for inbag in inbags:
00044     outbag = "timefixed-" + inbag
00045     print '      Processing input bagfile: ', inbag
00046     print '     Writing to output bagfile: ', outbag
00047     print 'Changing header time of topics: ', topics
00048     print '                 Adding offset: ', offset
00049     outbag = rosbag.Bag(outbag,'w')
00050     time_offset = rospy.Duration.from_sec(offset)
00051     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
00052       if topic in topics:
00053         if topic == "/tf":
00054           for transform in msg.transforms:
00055             transform.header.stamp += time_offset
00056         elif msg._has_header:
00057           msg.header.stamp += time_offset
00058       outbag.write(topic, msg, t)
00059     outbag.close()
00060 
00061 
00062 if __name__ == "__main__":
00063   parser = argparse.ArgumentParser(
00064       description='Changes header timestamps using given offset, can change'
00065                   '/tf as well.')
00066   parser.add_argument('-o', metavar='OFFSET', required=True, type=float, help='time offset to add in seconds')
00067   parser.add_argument('-i', metavar='BAGFILE', required=True, help='input bagfile(s)', nargs='+')
00068   parser.add_argument('-t', metavar='TOPIC', required=True, help='topics to change', nargs='+')
00069   args = parser.parse_args()
00070   try:
00071     add_offset(args.i, args.t, args.o)
00072   except Exception, e:
00073     import traceback
00074     traceback.print_exc()


bag_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:48:00