00001
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'
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