v01

thirdparty/ros/ros_comm/tools/rosbag/scripts/savemsg.py

@@ -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)