1 import rosbag
   2 
   3 with rosbag.Bag('output.bag', 'w') as outbag:
   4     for topic, msg, t in rosbag.Bag('input.bag').read_messages():
   5         # This also replaces tf timestamps under the assumption 
   6         # that all transforms in the message share the same timestamp
   7         if topic == "/tf" and msg.transforms:
   8             outbag.write(topic, msg, msg.transforms[0].header.stamp)
   9         else:
  10             outbag.write(topic, msg, msg.header.stamp if msg._has_header else t)

   1 import rosbag
   2 import rospy
   3 
   4 with rosbag.Bag('input.bag', 'a') as bag:
   5     from std_msgs.msg import String
   6     metadata_msg = String(data='my metadata')
   7     bag.write('/metadata', metadata_msg, rospy.Time(bag.get_end_time()))

   1 import subprocess, yaml
   2 
   3 info_dict = yaml.load(subprocess.Popen(['rosbag', 'info', '--yaml', 'input.bag'], stdout=subprocess.PIPE).communicate()[0])

   1 import yaml
   2 from rosbag.bag import Bag
   3 
   4 info_dict = yaml.load(Bag('input.bag', 'r')._get_yaml_info())

   1 import rosbag
   2 bag = rosbag.Bag('input.bag')
   3 topics = bag.get_type_and_topic_info()[1].keys()
   4 types = []
   5 for i in range(0,len(bag.get_type_and_topic_info()[1].values())):
   6     types.append(bag.get_type_and_topic_info()[1].values()[i][0])

   1 import rosbag
   2 
   3 num_msgs = 100
   4 
   5 with rosbag.Bag('output.bag', 'w') as outbag:
   6     for topic, msg, t in rosbag.Bag('input.bag').read_messages():
   7         while num_msgs:
   8             outbag.write(topic, msg, t)
   9             num_msgs -= 1

   1 import sys
   2 import rosbag
   3 import time
   4 import subprocess
   5 import yaml
   6 import rospy
   7 import os
   8 import argparse
   9 import math
  10 from shutil import move
  11 
  12 def status(length, percent):
  13   sys.stdout.write('\x1B[2K') # Erase entire current line
  14   sys.stdout.write('\x1B[0E') # Move to the beginning of the current line
  15   progress = "Progress: ["
  16   for i in range(0, length):
  17     if i < length * percent:
  18       progress += '='
  19     else:
  20       progress += ' '
  21   progress += "] " + str(round(percent * 100.0, 2)) + "%"
  22   sys.stdout.write(progress)
  23   sys.stdout.flush()
  24 
  25 
  26 def main(args):
  27   parser = argparse.ArgumentParser(description='Reorder a bagfile based on header timestamps.')
  28   parser.add_argument('bagfile', nargs=1, help='input bag file')
  29   parser.add_argument('--max-offset', nargs=1, help='max time offset (sec) to correct.', default='60', type=float)
  30   args = parser.parse_args()
  31     
  32   # Get bag duration  
  33   
  34   bagfile = args.bagfile[0]
  35   
  36   info_dict = yaml.load(subprocess.Popen(['rosbag', 'info', '--yaml', bagfile], stdout=subprocess.PIPE).communicate()[0])
  37   duration = info_dict['duration']
  38   start_time = info_dict['start']
  39   
  40   orig = os.path.splitext(bagfile)[0] + ".orig.bag"
  41   
  42   move(bagfile, orig)
  43   
  44   with rosbag.Bag(bagfile, 'w') as outbag:
  45       
  46     last_time = time.clock()
  47     for topic, msg, t in rosbag.Bag(orig).read_messages():
  48         
  49       if time.clock() - last_time > .1:
  50           percent = (t.to_sec() - start_time) / duration
  51           status(40, percent)
  52           last_time = time.clock()
  53           
  54       # This also replaces tf timestamps under the assumption 
  55       # that all transforms in the message share the same timestamp
  56       if topic == "/tf" and msg.transforms:
  57         # Writing transforms to bag file 1 second ahead of time to ensure availability
  58         diff = math.fabs(msg.transforms[0].header.stamp.to_sec() - t.to_sec())
  59         outbag.write(topic, msg, msg.transforms[0].header.stamp - rospy.Duration(1) if diff < args.max_offset else t)
  60       elif msg._has_header:
  61         diff = math.fabs(msg.header.stamp.to_sec() - t.to_sec())
  62         outbag.write(topic, msg, msg.header.stamp if diff < args.max_offset else t)
  63       else:
  64         outbag.write(topic, msg, t)
  65   status(40, 1)
  66   print "\ndone"
  67 
  68 if __name__ == "__main__":
  69   main(sys.argv[1:])

   1 import sys
   2 import os
   3 import csv
   4 import rosbag
   5 import rospy
   6 
   7 ##################
   8 # DESCRIPTION:
   9 # Creates CSV files of the robot joint states from a rosbag (for visualization with e.g. pybullet)
  10 # 
  11 # USAGE EXAMPLE:
  12 # rosrun your_package get_jstate_csvs.py /root/catkin_ws/bagfiles your_bagfile.bag
  13 # ##################
  14 
  15 filename = sys.argv[2]
  16 directory = sys.argv[1]
  17 print("Reading the rosbag file")
  18 if not directory.endswith("/"):
  19   directory += "/"
  20 extension = ""
  21 if not filename.endswith(".bag"):
  22   extension = ".bag"
  23 bag = rosbag.Bag(directory + filename + extension)
  24 
  25 # Create directory with name filename (without extension)
  26 results_dir = directory + filename[:-4] + "_results"
  27 if not os.path.exists(results_dir):
  28   os.makedirs(results_dir)
  29 
  30 print("Writing robot joint state data to CSV")
  31 
  32 with open(results_dir +"/"+filename+'_joint_states.csv', mode='w') as data_file:
  33   data_writer = csv.writer(data_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
  34   data_writer.writerow(['time', 'robot_elbow_joint', 'robot_shoulder_lift_joint', 
  35   'robot_shoulder_pan_joint', 'robot_wrist_1_joint', 'robot_wrist_2_joint', 'robot_wrist_3_joint'])
  36   # Get all message on the /joint states topic
  37   for topic, msg, t in bag.read_messages(topics=['/joint_states']):
  38     # Only write to CSV if the message is for our robot
  39     if msg.name[0] == "robot_elbow_joint":
  40       p = msg.position
  41       data_writer.writerow([t, p[0], p[1], p[2], p[3], p[4], p[5]])
  42 
  43 print("Finished creating csv file!")
  44 bag.close()