change_topics.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 change_topics(inbag,outbag,replacements):
00043   print '   Processing input bagfile: ', inbag
00044   print '  Writing to output bagfile: ', outbag
00045   print '               Replacements: ', replacements
00046 
00047   outbag = rosbag.Bag(outbag,'w')
00048   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
00049     if topic in replacements:
00050         topic = replacements[topic]
00051     outbag.write(topic, msg, t)
00052   print 'Closing output bagfile and exit...'
00053   outbag.close();
00054 
00055 def replacement(replace_string):
00056   pair = replace_string.split('=', 1)
00057   if len(pair) != 2:
00058     raise argparse.ArgumentTypeError("Replace string must have the form /topic=/new_topic")
00059   if pair[0][0] != '/':
00060     pair[0] = '/'+pair[0]
00061   if pair[1][0] != '/':
00062     pair[1] = '/'+pair[1]
00063   return pair[0], pair[1]
00064 
00065 if __name__ == "__main__":
00066   parser = argparse.ArgumentParser(
00067       description='changes topic names inside a bagfile.')
00068   parser.add_argument('inbag', help='input bagfile')
00069   parser.add_argument('outbag', help='output bagfile')
00070   parser.add_argument('replacement', type=replacement, nargs='+', help='replacement in form "TOPIC=NEW_TOPIC", e.g. /laser1/scan=/laser2/scan')
00071   args = parser.parse_args()
00072   replacements = {}
00073   for topic, new_topic in args.replacement:
00074     replacements[topic] = new_topic
00075  
00076   try:
00077     change_topics(args.inbag,args.outbag,replacements)
00078   except Exception, e:
00079     import traceback
00080     traceback.print_exc()
00081 


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