savemsg.py

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#!/usr/bin/env python
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from __future__ import print_function

import optparse
import sys
import roslib.message
import rosbag

if __name__ == '__main__':
    parser = optparse.OptionParser(usage='usage: savemsg.py [-b <bagfile] type')
    parser.add_option('-b', '--bagfiles', action='store', dest='bagfile', default=None, help='Save message from a bagfile rather than system definition')

    (options, args) = parser.parse_args()

    if len(args) < 1:
        parser.error('Message type not specified.')

    if options.bagfile is None:
        sys_class = roslib.message.get_message_class(args[0])
        if sys_class is None:
            print('Could not find message %s.' % args[0], file=sys.stderr)
        else:
            print('[%s]:' % args[0])
            print(sys_class._full_text)
    else:
        for topic, msg, t in rosbag.Bag(options.bagfile).read_messages(raw=True):
            if msg[0] == args[0]:
                print('[%s]:' % args[0])
                print(msg[4]._full_text)
                exit(0)

        print('Could not find message %s in bag %s.' % (args[0], options.bagfile), file=sys.stderr)