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Ivan
2022-04-05 11:42:28 +03:00
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69
thirdparty/ros/ros_comm/tools/rosbag/scripts/bag2png.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import sys
import array
import Image
import rospy
import rosbag
def int16_str(d):
return array.array('B', [ min(x, 255) for x in d ]).tostring()
#return array.array('f', [ float(x) for x in d ]).tostring()
def msg2im(msg):
"""Take an sensor_msgs/Image and return a PIL image"""
if len(msg.uint8_data.data) == 0 and len(msg.int16_data.data) == 0:
return None
if msg.depth == 'uint8':
ma, image_data = msg.uint8_data, ma.data
else:
ma, image_data = msg.int16_data, int16_str(ma.data)
dim = dict([(d.label, d.size) for d in ma.layout.dim])
mode = { ('uint8',1) : "L", ('uint8',3) : "RGB", ('int16',1) : "L" }[msg.depth, dim['channel']]
(w, h) = (dim['width'], dim['height'])
return Image.fromstring(mode, (w, h), image_data)
counter = 0
for topic, msg, t in rosbag.Bag(sys.argv[1]).read_messages():
if topic.endswith('stereo/raw_stereo'):
for (mi, c) in [ (msg.left_image, 'L'), (msg.right_image, 'R'), (msg.disparity_image, 'D')]:
im = msg2im(mi)
if im:
ext = { 'L':'png', 'RGB':'png', 'F':'tiff' }[im.mode]
im.save('%06d%s.%s' % (counter, c, ext))
counter += 1

67
thirdparty/ros/ros_comm/tools/rosbag/scripts/bagsort.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rospy
import rosbag
def sortbags(inbag, outbag):
rebag = rosbag.Bag(outbag, 'w')
try:
schedule = [(t, i) for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True))]
schedule = [i for (t, i) in sorted(schedule)]
print(schedule)
stage = {}
for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True)):
stage[i] = (topic, msg, t)
while (len(schedule) > 0) and (schedule[0] in stage):
(topic, msg, t) = stage[schedule[0]]
rebag.write(topic, msg, t, raw=True)
del stage[schedule[0]]
schedule = schedule[1:]
assert schedule == []
assert stage == {}
finally:
rebag.close()
if __name__ == '__main__':
import sys
if len(sys.argv) == 3:
sortbags(sys.argv[1], sys.argv[2])
else:
print("usage: bagsort.py <inbag> <outbag>")

49
thirdparty/ros/ros_comm/tools/rosbag/scripts/fastrebag.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rosbag
def fastrebag(inbag, outbag):
rebag = rosbag.Bag(outbag, 'w')
for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True)):
rebag.write(topic, msg, t, raw=True)
rebag.close()
if __name__ == '__main__':
import sys
if len(sys.argv) == 3:
fastrebag(sys.argv[1], sys.argv[2])
else:
print('usage: fastrebag.py <inbag> <outbag>')

69
thirdparty/ros/ros_comm/tools/rosbag/scripts/fix_md5sums.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import os
import rospy
import rosbag
def fix_md5sums(inbags):
for b in inbags:
print('Trying to migrating file: %s' % b)
outbag = b + '.tmp'
rebag = rosbag.Bag(outbag, 'w')
try:
for i,(topic, msg, t) in enumerate(rosbag.Bag(b).read_messages(raw=True)):
rebag.write(topic, msg, t, raw=True)
rebag.close()
except rosbag.ROSBagException as e:
print(' Migration failed: %s' % str(e))
os.remove(outbag)
continue
oldnamebase = b + '.old'
oldname = oldnamebase
i = 1
while os.path.isfile(oldname):
i += 1
oldname = oldnamebase + str(i)
os.rename(b, oldname)
os.rename(outbag, b)
print(' Migration successful. Original stored as: %s' % oldname)
if __name__ == '__main__':
import sys
if len(sys.argv) >= 2:
fix_md5sums(sys.argv[1:])
else:
print("usage: fix_md5sums.py bag1 [bag2 bag3 ...]")

67
thirdparty/ros/ros_comm/tools/rosbag/scripts/fix_moved_messages.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rospy
import rosbag
import fileinput
def fixbags(md5file, inbag, outbag):
d = {}
for line in fileinput.input(md5file):
sp = line.split()
d[sp[1]] = [sp[0], sp[2], sp[3]]
rebag = rosbag.Bag(outbag, 'w')
for topic, msg, t in rosbag.Bag(inbag).read_messages(raw=True):
type, bytes, md5 = msg[0], msg[1], msg[2]
if md5 in d:
if type != d[md5][0]:
print('WARNING: found matching md5, but non-matching name')
continue
msg = (d[md5][1], msg[1], d[md5][2])
rebag.write(topic, msg, t, raw=True)
rebag.close()
if __name__ == '__main__':
import sys
if len(sys.argv) == 4:
fixbags(sys.argv[1], sys.argv[2], sys.argv[3])
else:
print('usage: fix_moved_messages.py <name_md5_file> <inbag> <outbag>')
exit(2)

79
thirdparty/ros/ros_comm/tools/rosbag/scripts/fix_msg_defs.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import sys
import rosbag.migration
if __name__ == '__main__':
if len(sys.argv) != 3:
print('usage: fix_msg_defs.py <inbag> <outbag>')
exit(2)
mm = rosbag.migration.MessageMigrator()
checked = set()
migrations = []
inbag = rosbag.Bag(sys.argv[1], 'r')
outbag = rosbag.Bag(sys.argv[2], 'w')
lookup_cache = {}
#msg is: datatype, data, pytype._md5sum, bag_pos, pytype
for topic, msg, t in inbag.read_messages(raw=True):
if msg[4]._md5sum != msg[2]:
k = (msg[0], msg[2])
if k in lookup_cache:
real_msg_type = lookup_cache[k]
else:
real_msg_type = mm.lookup_type(k)
if real_msg_type != None:
print("FOUND: %s [%s] was defined in migration system\n"%(msg[0], msg[2]), file=sys.stderr)
else:
systype = roslib.message.get_message_class(msg[0])
if systype != None and systype._md5sum == msg[2]:
real_msg_type = systype
print("FOUND: %s [%s] was defined on your package path\n"%(msg[0], msg[2]), file=sys.stderr)
if real_msg_type == None:
real_msg_type = msg[4]
print("WARNING: Type [%s] with md5sum [%s] has an unknown definition.\n"%(msg[0], msg[2]), file=sys.stderr)
lookup_cache[k] = real_msg_type
outbag.write(topic, (msg[0], msg[1], msg[2], msg[3], real_msg_type), t, raw=True)
else:
outbag.write(topic, msg, t, raw=True)
inbag.close()
outbag.close()
exit(0)

54
thirdparty/ros/ros_comm/tools/rosbag/scripts/fixbag.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import sys
import rosbag.migration
if __name__ == '__main__':
if len(sys.argv) < 3:
print('usage: fixbag.py <inbag> <outbag> [rulefile1, rulefile2, ...]')
exit(2)
if sys.argv[2].split('.')[-1] == 'bmr':
print('Second argument should be a bag, not a rule file.', file=sys.stderr)
exit(2)
mm = rosbag.migration.MessageMigrator(sys.argv[3:])
if not rosbag.migration.fixbag(mm, sys.argv[1], sys.argv[2]):
print('Bag could not be migrated.')
exit(1)
print('Bag migrated successfully.')
exit(0)

67
thirdparty/ros/ros_comm/tools/rosbag/scripts/fixbag_batch.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import os
import sys
import rosbag.migration
def fixbag_batch(inbags):
mm = rosbag.migration.MessageMigrator()
for b in inbags:
print('Trying to migrate: %s' % b)
outbag = b + '.tmp'
if not rosbag.migration.fixbag(mm, b, outbag):
os.remove(outbag)
print(' Migration failed.')
continue
oldnamebase = b + '.old'
oldname = oldnamebase
i = 1
while os.path.isfile(oldname):
i += 1
oldname = oldnamebase + str(i)
os.rename(b, oldname)
os.rename(outbag, b)
print(' Migration successful. Original stored as: %s' % oldname)
if __name__ == '__main__':
import sys
if len(sys.argv) >= 2:
fixbag_batch(sys.argv[1:])
else:
print('usage: fixbag_batch.py bag1 [bag2 bag3 ...]')
exit(2)

157
thirdparty/ros/ros_comm/tools/rosbag/scripts/makerule.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import optparse
import os
import re
import sys
import rosbag.migration
import genpy.message
import genpy.dynamic
def print_trans(old, new, indent):
from_txt = '%s [%s]' % (old._type, old._md5sum)
if new is not None:
to_txt= '%s [%s]' % (new._type, new._md5sum)
else:
to_txt = 'Unknown'
print(' ' * indent + ' * From: %s' % from_txt)
print(' ' * indent + ' To: %s' % to_txt)
if __name__ == '__main__':
parser = optparse.OptionParser(usage='usage: makerule.py msg.saved [-a] output_rulefile [rulefile1, rulefile2, ...] [-n]')
parser.add_option('-a', '--append', action='store_true', dest='append', default=False)
parser.add_option('-n', '--noplugins', action='store_true', dest='noplugins', default=False)
(options, args) = parser.parse_args()
if len(args) < 2:
parser.error("Incorrect number of arguments")
rulefile = args[1]
if os.path.isfile(rulefile) and not options.append:
print("The file %s already exists. Include -a if you intend to append." % rulefile, file=sys.stderr)
exit(1)
if not os.path.isfile(rulefile) and options.append:
print("The file %s does not exist, and so -a is invalid." % rulefile, file=sys.stderr)
exit(1)
if options.append:
append_rule = [rulefile]
else:
append_rule = []
f = open(args[0])
if f is None:
print('Could not open message full definition: %s', file=sys.stderr)
sys.exit()
type_line = f.readline()
pat = re.compile(r"\[(.*)]:")
type_match = pat.match(type_line)
if type_match is None:
print("Full definition file malformed. First line should be: '[my_package/my_msg]:'", file=sys.stderr)
sys.exit()
old_type = type_match.groups()[0]
old_full_text = f.read()
f.close()
old_class = genpy.dynamic.generate_dynamic(old_type,old_full_text)[old_type]
if old_class is None:
print('Could not generate class from full definition file.', file=sys.stderr)
sys.exit()
mm = rosbag.migration.MessageMigrator(args[2:]+append_rule,not options.noplugins)
migrations = rosbag.migration.checkmessages(mm, [old_class])
if migrations == []:
print('Saved definition is up to date.')
exit(0)
print('The following migrations need to occur:')
all_rules = []
for m in migrations:
all_rules.extend(m[1])
print_trans(m[0][0].old_class, m[0][-1].new_class, 0)
if len(m[1]) > 0:
print(" %d rules missing:" % len(m[1]))
for r in m[1]:
print_trans(r.old_class, r.new_class, 1)
if rulefile is None:
print("rulefile not specified")
else:
output = ''
rules_left = mm.filter_rules_unique(all_rules)
if rules_left == []:
print("\nNo additional rule files needed to be generated. %s not created." % rulefile)
exit(0)
while rules_left != []:
extra_rules = []
for r in rules_left:
if r.new_class is None:
print("The message type %s appears to have moved. Please enter the type to migrate it to." % r.old_class._type)
new_type = raw_input('>')
new_class = genpy.message.get_message_class(new_type)
while new_class is None:
print("\'%s\' could not be found in your system. Please make sure it is built." % new_type)
new_type = raw_input('>')
new_class = genpy.message.get_message_class(new_type)
new_rule = mm.make_update_rule(r.old_class, new_class)
R = new_rule(mm, 'GENERATED.' + new_rule.__name__)
R.find_sub_paths()
new_rules = [r for r in mm.expand_rules(R.sub_rules) if r.valid == False]
extra_rules.extend(new_rules)
print('Creating the migration rule for %s requires additional missing rules:' % new_type)
for nr in new_rules:
print_trans(nr.old_class, nr.new_class,1)
output += R.get_class_def()
else:
output += r.get_class_def()
rules_left = mm.filter_rules_unique(extra_rules)
f = open(rulefile, 'a')
f.write(output)
f.close()
print("\nThe necessary rule files have been written to: %s" % rulefile)

35
thirdparty/ros/ros_comm/tools/rosbag/scripts/rosbag vendored Executable file
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@@ -0,0 +1,35 @@
#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rosbag
rosbag.rosbagmain()

64
thirdparty/ros/ros_comm/tools/rosbag/scripts/savemsg.py vendored Executable file
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@@ -0,0 +1,64 @@
#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import optparse
import sys
import roslib.message
import rosbag
if __name__ == '__main__':
parser = optparse.OptionParser(usage='usage: savemsg.py [-b <bagfile] type')
parser.add_option('-b', '--bagfiles', action='store', dest='bagfile', default=None, help='Save message from a bagfile rather than system definition')
(options, args) = parser.parse_args()
if len(args) < 1:
parser.error('Message type not specified.')
if options.bagfile is None:
sys_class = roslib.message.get_message_class(args[0])
if sys_class is None:
print('Could not find message %s.' % args[0], file=sys.stderr)
else:
print('[%s]:' % args[0])
print(sys_class._full_text)
else:
for topic, msg, t in rosbag.Bag(options.bagfile).read_messages(raw=True):
if msg[0] == args[0]:
print('[%s]:' % args[0])
print(msg[4]._full_text)
exit(0)
print('Could not find message %s in bag %s.' % (args[0], options.bagfile), file=sys.stderr)

50
thirdparty/ros/ros_comm/tools/rosbag/scripts/topic_renamer.py vendored Executable file
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@@ -0,0 +1,50 @@
#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import rospy
import rosbag
def rename_topic(intopic, inbag, outtopic, outbag):
rebag = rosbag.Bag(outbag, 'w')
for topic, msg, t in rosbag.Bag(inbag).read_messages(raw=True):
rebag.write(outtopic if topic == intopic else topic, msg, t, raw=True)
rebag.close()
if __name__ == '__main__':
import sys
if len(sys.argv) == 5:
rename_topic(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])
else:
print("usage: topic_renamer.py <intopic> <inbag> <outtopic> <outbag>")