00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 from __future__ import print_function 00035 00036 import rospy 00037 import rosbag 00038 00039 def sortbags(inbag, outbag): 00040 rebag = rosbag.Bag(outbag, 'w') 00041 00042 try: 00043 schedule = [(t, i) for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True))] 00044 00045 schedule = [i for (t, i) in sorted(schedule)] 00046 print(schedule) 00047 00048 stage = {} 00049 for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True)): 00050 stage[i] = (topic, msg, t) 00051 while (len(schedule) > 0) and (schedule[0] in stage): 00052 (topic, msg, t) = stage[schedule[0]] 00053 rebag.write(topic, msg, t, raw=True) 00054 del stage[schedule[0]] 00055 schedule = schedule[1:] 00056 00057 assert schedule == [] 00058 assert stage == {} 00059 finally: 00060 rebag.close() 00061 00062 if __name__ == '__main__': 00063 import sys 00064 if len(sys.argv) == 3: 00065 sortbags(sys.argv[1], sys.argv[2]) 00066 else: 00067 print("usage: bagsort.py <inbag> <outbag>")