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