rosbag-merge 0.0.4

A gathering of tools for merging rosbags and saving their topic information to csv.

Getting Started

python3 -m pip install .

This package currently uses icecream as the logger in order to better identify the locations of bugs. Eventually the logging will happen through print.

Usage

Basic elements for usage are an in path and out path for data being processed and created, respectively.

--outbag_name

• Define an outbag name using the flag.

--input_paths

• Define global input paths for the data of interest. (csv or bags)

--global_output_path

• Define where to save newly created data (csv or bags)

--topics

• Topics which should be filtered. Use this to speed up all of the processing. To use all topics then simply omit the flag.

--topic-file

• Topics which should be filtered. Use this to speed up all of the processing. To use all topics then simply omit the flag. A file representing a list of topics. One topic per line.

--write_bag

• Including the flag tells rosbag-tools to write a new bag. Be sure to include an --outbag-name.

--write_csvs

• Including the flag tells rosbag-tools to write a csv's with the topic data of interest.

--merge_csvs

• Takes the csvs in the input path and makes a single csv. The csv will fill topic data such that the new csv fills in data to share the same time and is easier to vizualize on plotjuggler or through matplotlib.

NOTE : More arguments are available if you want to use specific CSV's or Bag files. Run rosbag-merge -h for more information.

Some environment variables

export IN_PATH=/global/path/to/data
export OUT_PATH=/global/path/to/data
export OUTBAG_NAME=new-bag-name
export INPUT_TOPICS='/topic/namespace_1 /topic/namespace_2 /topic/namespace_3'

Merge Bag Files

Make a merged bage with all topics.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag

To merge bag files with select topics, and make single topics csvs.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --topics $INPUT_TOPICS --write_bag 

To merge bag files with select topics, and make single topics csvs.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag --write_csvs 

Loop through the bag msgs and make single topics csvs.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 

Loop through the bag msgs and make single topics csvs.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 

Merge CSVs

For now, merging csvs must be done after making the CSVs on a previous command.

rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH  --merge_csvs