ROS1 rosbag的详细使用并且使用python合并bag包的方法

$ rosbag record body_status gnss_imu

$ rosbag record -a

$ rosbag record -e "/(.*)_log/point"

$ rosbag record -p

$ rosbag record -e "/(.*)_log/point" -x "(.*)/point"

$ rosbag record -q /body_status

$ rosbag record -d 30 /body_status
$ rosbag record -d 3m /body_status
$ rosbag record -d 3h /body_status

$ rosbag record -o output /topic_name /topic_name2 

$ rosbag record -O output.bag /topic_name /topic_name2 

$ rosbag record --split --size=1024 /topic_name
$ rosbag record --split --duration=30 /topic_name
$ rosbag record --split --duration=5m /topic_name
$ rosbag record --split --duration=2h /topic_name

$ rosbag record --split --max-splits 3 --duration=30 /topic_name

$ rosbag record -b 1024 /topic_name

$ rosbag record --chunksize=1024 /topic_name

$ rosbag record -l 1000 /topic_name

$ rosbag record --node=/node

$ rosbag record -j /topic_name

$ rosbag record --lz4 /topic_name

$ rosbag info test.bag

$ rosbag info -y test.bag

$ rosbag info -y -k topics test.bag

$ rosbag play test.bag

$ rosbag play -p test test.bag

$ rosbag play -q test.bag

$ rosbag play -i test.bag

$ rosbag play --pause test.bag

$ rosbag play --queue=1000 test.bag

$ rosbag play --clock test.bag

$ rosbag play --hz=1 --clock test.bag

$ rosbag -d 5 test.bag

$ rosbag -r 10 test.bag

$ rosbag play -s 5 test.bag 

$ rosbag play -u 240 test.bag

$ rosbag play --skip-empty=1 test.bag 

$ rosbag play -l test.bag

$ rosbag play -k test.bag

$ rosbag play --try-future-version test.bag

$ rosbag play test.bag --topics /topic1 /topic2

$ rosbag play test.bag --topics /topic1 /topic2 --pause-topics

$ rosbag play --bags=test.bag 

$ rosbag check test.bag

$ rosbag check -g diagnostics.bmr test.bag

$ rosbag check -a -g diagnostics.bmr test.bag

$ rosbag check -n test.bag

$ rosbag fix old.bag repaired.bag myrules.bmr

$ rosbag fix -n old.bag repaired.bag

$ rosbag filter my.bag only-tf.bag "topic == '/tf'"

$ rosbag compress *.bag

$ rosbag compress *.bag --output-dir=compressed

$ rosbag compress -f *.bag

$ rosbag compress -q *.bag

$ rosbag compress -j *.bag

$ rosbag compress --lz4 *.bag

$ rosbag decompress *.bag

$ rosbag decompress --output-dir=uncompressed *.bag

$ rosbag decompress -f *.bag

$ rosbag decompress -q *.bag

$ rosbag reindex *.bag

$ rosbag reindex --output-dir=reindexed *.bag

$ rosbag reindex -f *.bag

$ rosbag reindex -q *.bag

#! /usr/bin/env python3
import os
import time
import argparse
from rosbag import Bag, Compression
def parse_compression(compression):
    if compression == "none" or compression == "NONE":
        compression = Compression.NONE
    elif compression == "bz2":
        compression = Compression.BZ2
    elif compression == "lz4":
        compression = Compression.LZ4
    return compression
def get_files_list(arg_input, arg_select):
    files = None
    if " " in arg_input:
        files = arg_input.split(" ")
    elif "," in arg_input:
        files = arg_input.split(",")
    elif os.path.exists(args.input) or "*" in args.input:
        rfind_index = arg_input.rfind("/")
        dir_path = arg_input[:rfind_index]
        files = os.listdir(dir_path)
        files.sort() # 名称排序
        files = [dir_path + "/" + file for file in files]
    if arg_select:
        files = select_bags(files)
    print("bags list:")
    for i in range(len(files)):
        print(str(i) + "." + files[i])
    return files
def select_bags(files):
    for i in range(len(files)):
        print(str(i) + "." + files[i])
    print("Please input bag numbers to merge. split by , or space", end=":")
    s_b = input()
    s_b_list = []
    if "," in s_b:
        s_b_list = s_b.split(",")
    elif " " in s_b:
        s_b_list = s_b.split(" ")
    files = [files[int(x)] for x in s_b_list]
    return files
def show_process_bar(total, i, start):
    a = "*" * i
    b = "." * (total - i)
    c = (i / total) * 100
    dur = time.perf_counter() - start
    print("\r{:^3.0f}%[{}->{}]{:.2f}s".format(c,a,b,dur), end="")
def merge_bags(args):
    print("start merge bags.")
    compression = parse_compression(args.compression)
    print(f"bag's compression mode is {compression}.")
    files = get_files_list(args.input, args.select)
    with Bag(args.output, "w",  compression=compression) as o:
        start = time.perf_counter()
        for i in range(len(files)):
            show_process_bar(len(files), i+1, start)
            with Bag(files[i], "r") as ib:
                for topic, msg, t in ib:
                    o.write(topic, msg, t)
            show_process_bar(len(files), i+1, start)
if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Merge one or more bag files to one file.")
    parser.add_argument("-o", "--output", help="Output bag's file path.",
                        default="output.bag", required=True)
    parser.add_argument("-i", "--input", help="Input files bags name or path, split by , .",
                        required=True)
    parser.add_argument("-c", "--compression", help="Compress the bag by bz2 or lz4",
                        default="lz4", choices=["none", "lz4", "bz2"])
    parser.add_argument("-s", "--select", help="Select bags to merge.",
                        default=False)
    parser.add_argument("-v", "--verbose", help="Show the verbose msg.")
    args = parser.parse_args()
    merge_bags(args)