v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/thirdparty/ros/ros_comm/tools/rosbag/FORMATS
+++ b/thirdparty/ros/ros_comm/tools/rosbag/FORMATS
@@ -0,0 +1,215 @@
+Version 0:
+-------------
+topic_name
+md5sum
+datatype
+<repeating N>
+  time.sec
+  time.nsec
+  length
+  MSGDATA
+-------------
+
+Version 1.0:
+-------------
+#ROSLOG V1.0
+quantity
+<repeating quantity>
+  topic_name
+  md5sum
+  datatype
+<repeating N>
+  topic_name
+  time.sec
+  time.nsec
+  length
+  MSGDATA
+-------------
+
+Version 1.1:
+-------------
+#ROSLOG V1.1
+<repeating N>
+  topic_name
+  md5sum
+  datatype
+  time.sec
+  time.nsec
+  length
+  MSGDATA
+-------------
+
+Alternative Version 1.1:
+-------------
+#ROSRECORD V1.1
+<repeating N>
+  topic_name
+  md5sum
+  datatype
+  time.sec
+  time.nsec
+  length
+  MSGDATA
+-------------
+
+Version 1.2:
+-------------
+#ROSRECORD V1.2
+file header
+  op=2
+  index_pos=index_1.pos
+  ---
+  <empty> (padded with ' ' to 4KB)
+
+msg_def_1
+msg_1
+msg_2
+...
+msg_N
+
+index_1
+  ver=0
+  topic=topic
+  count=count
+  ---
+  timestamp_1, uncompressed_byte_offset_1
+  timestamp_2, uncompressed_byte_offset_2
+  ...
+  timestamp_N, uncompressed_byte_offset_N
+
+index_2
+  ...
+
+Version 2.0:
+-------------
+#ROSBAG V2.0
+file_header
+  op=3
+  index_pos=msg_def_1.pos      # position of index
+  conn_count=conn_count        # total number of distinct connections in the bag
+  chunk_count=chunk_count      # total number of chunks in the bag
+  ---
+  <empty> (padded with ' ' to 4KB)
+
+chunk_1
+  op=5
+  compression=bz2              # type of compression (optional)
+  size=<uncompressed bytes>    # size of data when uncompressed (optional)
+  ---
+  conn_1i
+    op=7
+    topic=topic
+    id=0
+    ---
+    topic=topic
+    message_definition=
+    type=
+    md5sum=
+    latching=1
+    callerid=caller1234
+  msg_1
+    op=2
+    topic=...
+    time=...
+    conn=...
+    ---
+    <serialized msg>
+  msg_2
+    op=2
+    topic=...
+    time=...
+    conn=...
+    ---
+    <serialized msg>
+
+  ...
+
+  msg_N
+
+chunk_index_1.0
+  op=4
+  ver=1
+  conn=conn
+  count=count
+  ---
+  timestamp_1, uncompressed_byte_offset_1
+  timestamp_2, uncompressed_byte_offset_2
+  ...
+  timestamp_N, uncompressed_byte_offset_N
+
+chunk_index_1.1
+  op=4
+  ver=1
+  conn=conn
+  count=count
+  ---
+  ...
+
+chunk_2
+  op=5
+  compression=bz2
+  size=<uncompressed bytes>
+  ---
+  msg_N+1
+  msg_N+2
+  ...
+  msg_N+M
+
+chunk_index_2.0
+  op=4
+  ver=1
+  conn=conn
+  count=count
+  ---
+  timestamp_N+1, uncompressed_byte_offset_1
+  timestamp_N+2, uncompressed_byte_offset_2
+  ...
+  timestamp_N+M, uncompressed_byte_offset_N+M
+
+...
+
+conn_1
+  op=7
+  id=0
+  ---
+  latching=1
+  callerid=caller1234 
+
+msg_def_1
+  op=1
+  topic=
+  type=
+  md5sum=
+  def=
+  ---
+  <empty>
+
+msg_def_2
+  op=1
+  topic=
+  type=
+  md5sum=
+  def=
+  ---
+  <empty>
+
+...
+
+chunk_info_1
+  op=6
+  ver=1
+  chunk_pos=chunk_1.pos
+  start=start_stamp_1
+  end=end_stamp_1
+  count=K
+  ---
+  conn_1, count_1
+  conn_2, count_2
+  ...
+  conn_K, count_K
+
+chunk_info_2
+  ...
+
+...
+<eof>