stamplint

stamplint reads a ROS 1 or ROS 2 recording and reports what is wrong with the timestamps in it: stamps that sit a leap second offset away from the receiving clock, stamps that go backwards, stamps that freeze, stamps of zero, dropouts, and clocks that drift apart. It then collapses the findings into a short verdict that names the probable cause instead of listing symptoms per topic.

It is pure Python and does not need a ROS installation. Bags are read through rosbags, and stamps are taken straight from the serialized bytes; only the first message of each topic is deserialized, to validate the parser against it.

It ships with bagmutate, which writes a copy of a bag with one known timestamp fault injected, so every check has a positive control.

Usage

pip install stamplint

stamplint /path/to/bag
stamplint /path/to/bag --topics /scan --topics /imu --limit 5000
stamplint /path/to/bag --stats
stamplint /path/to/bag --json-verdict

bagmutate clean.bag out --pathology tai

Exit code is 0 when no error finding was raised, 1 when at least one was, and 2 on bad usage or a bag that could not be read.

More

Full documentation, the live ROS 2 monitoring node and a catalog of the real world failures behind each check: https://github.com/sa1ntsinner/stampdoctor

Licensed under Apache 2.0.