v01

thirdparty/ros/ros_comm/test/test_rosbag/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_rosbag)
+
+if(NOT WIN32)
+  set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Wextra")
+endif()
+
+find_package(catkin REQUIRED COMPONENTS message_generation rosbag rosconsole roscpp rosgraph_msgs rostest rosunit topic_tools xmlrpcpp)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(Boost REQUIRED COMPONENTS regex program_options)
+  find_package(BZip2 REQUIRED)
+
+  add_subdirectory(bag_migration_tests)
+endif()
+
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  include_directories(${catkin_INCLUDE_DIRS} ${GTEST_INCLUDE_DIRS})
+
+  catkin_download_test_data(download_data_test_indexed_1.2.bag http://download.ros.org/data/rosbag/test_indexed_1.2.bag
+    FILENAME test/test_indexed_1.2.bag MD5 523cc0deb66269c84be4a7c605ff5eb3)
+  catkin_download_test_data(download_data_test_chatter_50hz.bag http://download.ros.org/data/rosbag/chatter_50hz.bag
+    FILENAME test/chatter_50hz.bag MD5 00844db3729b1b5f34e767dc691bd531)
+  catkin_download_test_data(download_data_test_future_version_2.1.bag http://download.ros.org/data/rosbag/test_future_version_2.1.bag
+    FILENAME test/test_future_version_2.1.bag MD5 ddcb5e8711b16514eb640330ed93c332)
+  catkin_download_test_data(download_data_test_rosbag_latched_pub.bag http://download.ros.org/data/rosbag/test_rosbag_latched_pub.bag
+    FILENAME test/test_rosbag_latched_pub.bag MD5 ed70b8cbb8a53220434aeb24bccf7342)
+
+  catkin_add_nosetests(test/test_bag.py)
+
+  configure_file(test/test_bag.cpp.in 
+                 ${PROJECT_BINARY_DIR}/test/test_bag.cpp)
+  catkin_add_gtest(test_bag ${PROJECT_BINARY_DIR}/test/test_bag.cpp)
+  if(TARGET test_bag)
+    target_link_libraries(test_bag ${catkin_LIBRARIES})
+  endif()
+
+  configure_file(test/play_play.test.in 
+                 ${PROJECT_BINARY_DIR}/test/play_play.test)
+  add_rostest(${PROJECT_BINARY_DIR}/test/play_play.test)
+  configure_file(test/rosbag_play.test.in 
+                 ${PROJECT_BINARY_DIR}/test/rosbag_play.test)
+  add_rostest(${PROJECT_BINARY_DIR}/test/rosbag_play.test)
+
+  add_rostest(test/latched_pub.test)
+  configure_file(test/latched_sub.test.in ${PROJECT_BINARY_DIR}/test/latched_sub.test)
+  add_rostest(${PROJECT_BINARY_DIR}/test/latched_sub.test)
+  add_rostest(test/record_two_publishers.test)
+  add_rostest(test/record_one_publisher_two_topics.test)
+
+  include_directories(${GTEST_INCLUDE_DIRS})
+  add_executable(double_pub EXCLUDE_FROM_ALL test/double_pub.cpp)
+  target_link_libraries(double_pub ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
+  add_dependencies(double_pub ${rosgraph_msgs_EXPORTED_TARGETS})
+  if(TARGET tests)
+    add_dependencies(tests double_pub)
+  endif()
+endif()

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/CMakeLists.txt

@@ -0,0 +1,69 @@
+# This is going to need some work because the bag files on
+# download.ros.org all have messages with the test_rosbag package
+# name.  Of course the package name for this package now is rosbag.
+# If we can have a way to pass an override package name into
+# generate_messages() it might make it work, or we can migrate the bag
+# files themselves.
+
+add_message_files(
+  DIRECTORY msg_current
+  FILES
+  Constants.msg
+  Converged.msg
+  MigratedAddSub.msg
+  MigratedExplicit.msg
+  MigratedImplicit.msg
+  MigratedMixed.msg
+  PartiallyMigrated.msg
+  Renamed4.msg
+  Simple.msg
+  SimpleMigrated.msg
+  SubUnmigrated.msg
+  Unmigrated.msg
+)
+generate_messages(DEPENDENCIES rosgraph_msgs std_msgs)
+
+catkin_download_test_data(download_data_test_constants_gen1.bag http://download.ros.org/data/test_rosbag/constants_gen1.bag FILENAME test/constants_gen1.bag MD5 77ec8cb20e823ee3f3a87d07ea1132df )
+catkin_download_test_data(download_data_test_constants_gen2.bag http://download.ros.org/data/test_rosbag/constants_gen2.bag FILENAME test/constants_gen2.bag MD5 4efd8459bf9403d1171dff06abcd6548 )
+catkin_download_test_data(download_data_test_converged_gen1.bag http://download.ros.org/data/test_rosbag/converged_gen1.bag FILENAME test/converged_gen1.bag MD5 8e3524157d31b5761ac951fe16e03e12 )
+catkin_download_test_data(download_data_test_converged_gen2.bag http://download.ros.org/data/test_rosbag/converged_gen2.bag FILENAME test/converged_gen2.bag MD5 0ad4041d2e3bab8262c12020ec3e048e )
+catkin_download_test_data(download_data_test_converged_gen3.bag http://download.ros.org/data/test_rosbag/converged_gen3.bag FILENAME test/converged_gen3.bag MD5 90dd16cea5c51fca65be617654fb6b76 )
+catkin_download_test_data(download_data_test_convergent_gen1.bag http://download.ros.org/data/test_rosbag/convergent_gen1.bag FILENAME test/convergent_gen1.bag MD5 a840aec95e50f3c828841b688dfab5a2 )
+catkin_download_test_data(download_data_test_convergent_gen2.bag http://download.ros.org/data/test_rosbag/convergent_gen2.bag FILENAME test/convergent_gen2.bag MD5 fd84c135ba1548985b870d0d5f4113e9 )
+catkin_download_test_data(download_data_test_migrated_addsub_gen1.bag http://download.ros.org/data/test_rosbag/migrated_addsub_gen1.bag FILENAME test/migrated_addsub_gen1.bag MD5 462e98cef72b5df56ce3feea9ddfc4d2 )
+catkin_download_test_data(download_data_test_migrated_explicit_gen1.bag http://download.ros.org/data/test_rosbag/migrated_explicit_gen1.bag FILENAME test/migrated_explicit_gen1.bag MD5 0b77e45aec3ddb19a9f9771c945e2615 )
+catkin_download_test_data(download_data_test_migrated_explicit_gen2.bag http://download.ros.org/data/test_rosbag/migrated_explicit_gen2.bag FILENAME test/migrated_explicit_gen2.bag MD5 b237680d6aae1b20355af097cf0f072b )
+catkin_download_test_data(download_data_test_migrated_explicit_gen3.bag http://download.ros.org/data/test_rosbag/migrated_explicit_gen3.bag FILENAME test/migrated_explicit_gen3.bag MD5 8b883286e23779bbfc30b0e5588a4d64 )
+catkin_download_test_data(download_data_test_migrated_implicit_gen1.bag http://download.ros.org/data/test_rosbag/migrated_implicit_gen1.bag FILENAME test/migrated_implicit_gen1.bag MD5 229d6cbd7dcec5e87fb2cf597b837243 )
+catkin_download_test_data(download_data_test_migrated_implicit_gen2.bag http://download.ros.org/data/test_rosbag/migrated_implicit_gen2.bag FILENAME test/migrated_implicit_gen2.bag MD5 df60111e5f8034ba6259c4d76d07339b )
+catkin_download_test_data(download_data_test_migrated_implicit_gen3.bag http://download.ros.org/data/test_rosbag/migrated_implicit_gen3.bag FILENAME test/migrated_implicit_gen3.bag MD5 d86f131070822f1673f7644bc28bfccd )
+catkin_download_test_data(download_data_test_migrated_mixed_gen1.bag http://download.ros.org/data/test_rosbag/migrated_mixed_gen1.bag FILENAME test/migrated_mixed_gen1.bag MD5 2d0be37de2df6940b7bd93561dde7b51 )
+catkin_download_test_data(download_data_test_migrated_mixed_gen2.bag http://download.ros.org/data/test_rosbag/migrated_mixed_gen2.bag FILENAME test/migrated_mixed_gen2.bag MD5 e000b2de3e4c417b0c9fbba9d2e92dc4 )
+catkin_download_test_data(download_data_test_migrated_mixed_gen3.bag http://download.ros.org/data/test_rosbag/migrated_mixed_gen3.bag FILENAME test/migrated_mixed_gen3.bag MD5 6e1cbb529b7a45386589d00bf3908bdf )
+catkin_download_test_data(download_data_test_partially_migrated_gen1.bag http://download.ros.org/data/test_rosbag/partially_migrated_gen1.bag FILENAME test/partially_migrated_gen1.bag MD5 dcfcf1e1c1f7ddc5ab723e171273a385 )
+catkin_download_test_data(download_data_test_partially_migrated_gen2.bag http://download.ros.org/data/test_rosbag/partially_migrated_gen2.bag FILENAME test/partially_migrated_gen2.bag MD5 7b2d752559a7e3c724d8b2a032daf3c1 )
+catkin_download_test_data(download_data_test_partially_migrated_gen3.bag http://download.ros.org/data/test_rosbag/partially_migrated_gen3.bag FILENAME test/partially_migrated_gen3.bag MD5 01161f84591bf956df7dff0a5e3fd2db )
+catkin_download_test_data(download_data_test_renamed_gen1.bag http://download.ros.org/data/test_rosbag/renamed_gen1.bag FILENAME test/renamed_gen1.bag MD5 243d6109f3bfd2ad1af1337a776970e5 )
+catkin_download_test_data(download_data_test_renamed_gen2.bag http://download.ros.org/data/test_rosbag/renamed_gen2.bag FILENAME test/renamed_gen2.bag MD5 229c79262e42b71f36e316ab1d1ad943 )
+catkin_download_test_data(download_data_test_renamed_gen3.bag http://download.ros.org/data/test_rosbag/renamed_gen3.bag FILENAME test/renamed_gen3.bag MD5 c9c3d03807de367b533f5e0384b4d134 )
+catkin_download_test_data(download_data_test_subunmigrated_gen1.bag http://download.ros.org/data/test_rosbag/subunmigrated_gen1.bag FILENAME test/subunmigrated_gen1.bag MD5 c78b85016aa34669e36d1eb5a7b5f2c7 )
+catkin_download_test_data(download_data_test_unmigrated_gen1.bag http://download.ros.org/data/test_rosbag/unmigrated_gen1.bag FILENAME test/unmigrated_gen1.bag MD5 87d8d3a1c9679609533803709d21cea2 )
+
+configure_file(test/migrate_test.py.in
+  ${PROJECT_BINARY_DIR}/test/migrate_test.py)
+catkin_add_nosetests(${PROJECT_BINARY_DIR}/test/migrate_test.py)
+configure_file(test/random_record.xml.in
+  ${PROJECT_BINARY_DIR}/test/random_record.xml)
+add_rostest(${PROJECT_BINARY_DIR}/test/random_record.xml)
+# Make sure that the random_record test runs before either of the random_play
+# tests, both of which require a .bag file that the random_record test will
+# write into /tmp. We're making an assumption about the target names generated
+# by add_rostest(), but that naming scheme seems to be pretty stable.
+configure_file(test/random_play.xml.in
+  ${PROJECT_BINARY_DIR}/test/random_play.xml)
+add_rostest(${PROJECT_BINARY_DIR}/test/random_play.xml
+  DEPENDENCIES run_tests_test_rosbag_rostest_test_random_record.xml)
+configure_file(test/random_play_sim.xml.in
+  ${PROJECT_BINARY_DIR}/test/random_play_sim.xml)
+add_rostest(${PROJECT_BINARY_DIR}/test/random_play_sim.xml
+  DEPENDENCIES run_tests_test_rosbag_rostest_test_random_record.xml)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/MessageHistory.txt

@@ -0,0 +1,65 @@
+In order to realistically test rosbagmigration, we had to create
+several generations of messages which mutate and migrate and generate
+bag files across all of them.
+
+At each generation, we generate a bagfile with the contents of all of
+the messages and the corresponding migration rules to migrate the
+previous generation forward.
+
+To use a particular generation script, move msgs_N to msgs, and then
+run script/generate_data_N.py.  The bash script "generate_data" does
+this for all generations.  The helper scripts, "gen1, gen2, gen3, and
+current" switch the message context to that particular 
+
+
+GENERATION 1:
+ Unmigrated.msg
+ Subunmigrated.msg
+ PartiallyMigrated.msg
+ MigratedExplicit.msg
+ MigratedImplicit.msg
+ MigratedMixed.msg
+ Renamed1.msg
+ Convergent.msg
+ Converged.msg
+ Hierarchical.msg
+ SuperHierarchical.msg
+ 
+
+GENERATION 2:
+ Unmigrated.msg
+ Subunmigrated.msg
+ PartiallyMigrated.msg - implicit 
+ MigratedExplicit.msg  - explicit 
+ MigratedImplicit.msg  - implicit 
+ MigratedMixed.msg     - implicit 
+ Converged.msg         - Rename from Convergent.msg
+ Renamed2.msg          - Rename from Renamed1.msg
+ Hierarchical.msg
+ SuperHierarchical.msg
+
+GENERATION 3
+ Unmigrated.msg
+ Subunmigrated.msg
+ PartiallyMigrated.msg - explicit 
+ MigratedExplicit.msg  - explicit 
+ MigratedImplicit.msg  - implicit 
+ MigratedMixed.msg     - explicit 
+ Converged.msg         - explicit 
+ Renamed3.msg          - rename from Renamed2.msg and explicit 
+ Hierarchical.msg      - explicit 
+ SuperHierarchical.msg - implicit
+
+CURRENT:
+ UnMigrated.msg        - explicit  (No corresponding rule)
+ Subunmigrated.msg
+ PartiallyMigrated.msg - explicit  (No corresponding rule)
+ MigratedExplicit.msg  - explicit 
+ MigratedImplicit.msg  - implicit 
+ MigratedMixed.msg     - implicit 
+ Converged.msg         - implicit 
+ Renamed4.msg          - rename from Renamed3.msg
+ Hierarchical.msg      - implicit 
+ SuperHierarchical.msg
+
+ 

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/current

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_current msg;
+make

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/gen1

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen1 msg;
+make;

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/gen2

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen2 msg;
+make;

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/gen3

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen3 msg;
+make;

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/generate_data

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen1 msg;
+make;
+./scripts/generate_data_1.py
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen2 msg;
+make;
+./scripts/generate_data_2.py
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_gen3 msg;
+make;
+./scripts/generate_data_3.py
+
+make clean-msg-only;
+rm -rf msg;
+cp -r msg_current msg;
+make

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/Constants.msg

@@ -0,0 +1,3 @@
+int32 CONSTANT=2
+int32 CONSTANT_TWO=42
+int32 value

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/Converged.msg

@@ -0,0 +1,2 @@
+float32[4]           field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[4]    field2 # [11, 22, 33, 44]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/MigratedAddSub.msg

@@ -0,0 +1,2 @@
+Simple field1
+Simple field2

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/MigratedExplicit.msg

@@ -0,0 +1,4 @@
+Header  header
+float32 afield2 #58.2
+string  combo_field3 #"aldfkja 17"
+int32   afield4 #82

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/MigratedImplicit.msg

@@ -0,0 +1,7 @@
+Header  header
+MigratedExplicit field4 #(17, 58.2 "aldfkja", 82)
+string  field3 #"kljene"
+float32 field2 #16.32
+int32   field1 #34
+
+

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/MigratedMixed.msg

@@ -0,0 +1,3 @@
+Header             header
+MigratedImplicit   field1 #(34, 16.32, "kjljene", (17, 58.2, "aldfkja", 82))
+int32              field2 #59

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/PartiallyMigrated.msg

@@ -0,0 +1,4 @@
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja", 82)
+string           field3 # "radasdk"
+float32          field5 # 63.4

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/Renamed4.msg

@@ -0,0 +1,2 @@
+float64  foo  # 2.17
+int32[4] bar  # [8, 2, 5, 1]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/Simple.msg

@@ -0,0 +1 @@
+int32 field1 #42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/SimpleMigrated.msg

@@ -0,0 +1 @@
+int32 data # 42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/SubUnmigrated.msg

@@ -0,0 +1,2 @@
+int32      field1 # 92
+Unmigrated field2 # (12, "uuiasjs", 61.7)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_current/Unmigrated.msg

@@ -0,0 +1,3 @@
+int32   field1 #12
+string  field2 #"uuiasjs"
+float32 field3 #61.7

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Constants.msg

@@ -0,0 +1,2 @@
+int32 CONSTANT=1
+int32 value

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Converged.msg

@@ -0,0 +1,2 @@
+float32[]   field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[]    field2 # [11, 22, 33, 44]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Convergent.msg

@@ -0,0 +1,9 @@
+float32   field1_a # 1.2
+float32   field1_b # 3.4
+float32   field1_c # 5.6
+float32   field1_d # 7.8
+
+SimpleMigrated     field2_a # 11
+SimpleMigrated     field2_b # 22
+SimpleMigrated     field2_c # 33
+SimpleMigrated     field2_d # 44

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/MigratedAddSub.msg

@@ -0,0 +1 @@
+Simple field1

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/MigratedExplicit.msg

@@ -0,0 +1,4 @@
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/MigratedImplicit.msg

@@ -0,0 +1,5 @@
+Header  header
+int32   field1 #34
+float32 field2 #16.32
+string  field3 #"kljene"
+MigratedExplicit field4 #(17, 58.2 "aldfkja")

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/MigratedMixed.msg

@@ -0,0 +1,3 @@
+Header             header
+MigratedImplicit   field1 #(34, 16.32, "kjljene", (17, 58.2, "aldfkja"))
+

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/PartiallyMigrated.msg

@@ -0,0 +1,2 @@
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja")

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Renamed1.msg

@@ -0,0 +1,2 @@
+float64  foo  # 2.17
+int32[3] bar  # [8, 2, 5]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Simple.msg

@@ -0,0 +1 @@
+int32 field1 #42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/SimpleMigrated.msg

@@ -0,0 +1 @@
+int32 data1 # 42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/SubUnmigrated.msg

@@ -0,0 +1,2 @@
+int32      field1 # 92
+Unmigrated field2 # (12, "uuiasjs", 61.7)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen1/Unmigrated.msg

@@ -0,0 +1,2 @@
+int32  field1 #12
+string field2 #"uuiasjs"

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Constants.msg

@@ -0,0 +1,2 @@
+int32 CONSTANT=2
+int32 value

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Converged.msg

@@ -0,0 +1,2 @@
+float32[]   field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[]    field2 # [11, 22, 33, 44]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Convergent.msg

@@ -0,0 +1,9 @@
+float32   field1_a # 1.2
+float32   field1_b # 3.4
+float32   field1_c # 5.6
+float32   field1_d # 7.8
+
+SimpleMigrated     field2_a # 11
+SimpleMigrated     field2_b # 22
+SimpleMigrated     field2_c # 33
+SimpleMigrated     field2_d # 44

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/MigratedAddSub.msg

@@ -0,0 +1,2 @@
+Simple field1
+Simple field2

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/MigratedExplicit.msg

@@ -0,0 +1,5 @@
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+int32   field4 #82

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/MigratedImplicit.msg

@@ -0,0 +1,5 @@
+Header  header
+int32   field1 #34
+float32 field2 #16.32
+string  field3 #"kljene"
+MigratedExplicit field4 #(17, 58.2 "aldfkja", 82)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/MigratedMixed.msg

@@ -0,0 +1,3 @@
+Header             header
+MigratedImplicit   field1 #(34, 16.32, "kjljene", (17, 58.2, "aldfkja", 82))
+

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/PartiallyMigrated.msg

@@ -0,0 +1,2 @@
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja", 82)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Renamed2.msg

@@ -0,0 +1,2 @@
+float64  foo  # 2.17
+int32[3] bar  # [8, 2, 5]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Simple.msg

@@ -0,0 +1 @@
+int32 field1 #42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/SimpleMigrated.msg

@@ -0,0 +1 @@
+int32 data2 # 42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/SubUnmigrated.msg

@@ -0,0 +1,2 @@
+int32      field1 # 92
+Unmigrated field2 # (12, "uuiasjs", 61.7)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen2/Unmigrated.msg

@@ -0,0 +1,2 @@
+int32  field1 #12
+string field2 #"uuiasjs"

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/Converged.msg

@@ -0,0 +1,2 @@
+float32[4]           field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[4]    field2 # [11, 22, 33, 44]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/MigratedAddSub.msg

@@ -0,0 +1,2 @@
+Simple field1
+Simple field2

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/MigratedExplicit.msg

@@ -0,0 +1,5 @@
+Header  header
+int32   afield1 #17
+float32 afield2 #58.2
+string  afield3 #"aldfkja"
+int32   afield4 #82

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/MigratedImplicit.msg

@@ -0,0 +1,7 @@
+Header  header
+MigratedExplicit field4 #(17, 58.2 "aldfkja", 82)
+string  field3 #"kljene"
+float32 field2 #16.32
+int32   field1 #34
+
+

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/MigratedMixed.msg

@@ -0,0 +1,3 @@
+Header             header
+MigratedImplicit   field1 #((17, 58.2, "aldfkja", 82), "kjljene", 16.32, 34)
+int32              field2 #59

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/PartiallyMigrated.msg

@@ -0,0 +1,3 @@
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja", 82)
+string           field3 # "radasdk"

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/Renamed3.msg

@@ -0,0 +1,2 @@
+float64  foo  # 2.17
+int32[4] bar  # [8, 2, 5, 1]

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/Simple.msg

@@ -0,0 +1 @@
+int32 field1 #42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/SimpleMigrated.msg

@@ -0,0 +1 @@
+int32 data3 # 42

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/SubUnmigrated.msg

@@ -0,0 +1,2 @@
+int32      field1 # 92
+Unmigrated field2 # (12, "uuiasjs", 61.7)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/msg_gen3/Unmigrated.msg

@@ -0,0 +1,2 @@
+int32  field1 #12
+string field2 #"uuiasjs"

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/scripts/generate_data_1.py

@@ -0,0 +1,98 @@
+#!/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 rospy
+from test_rosbag.msg import *
+
+import genpy
+import rosbag
+
+def generate_data():
+    bag = rosbag.Bag("test/migrated_explicit_gen1.bag", "w")
+    m = MigratedExplicit(None, 17, 58.2, "aldfkja")
+    bag.write("migrated_explicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_implicit_gen1.bag", "w")
+    m = MigratedImplicit(None, 34, 16.32, "kljene", MigratedExplicit(None, 17, 58.2, "aldfkja"))
+    bag.write("migrated_implicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_mixed_gen1.bag", "w")
+    m = MigratedMixed(None, MigratedImplicit(None, 34, 16.32, "kljene", MigratedExplicit(None, 17, 58.2, "aldfkja")))
+    bag.write("migrated_mixed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_addsub_gen1.bag", "w")
+    m = MigratedAddSub(Simple(42))
+    bag.write("migrated_addsub", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/unmigrated_gen1.bag", "w")
+    m = Unmigrated(12, "uuiasjs")
+    bag.write("unmigrated", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/subunmigrated_gen1.bag", "w")
+    m = SubUnmigrated(92, Unmigrated(12, "uuiasjs"))
+    bag.write("subunmigrated", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/partially_migrated_gen1.bag", "w")
+    m = PartiallyMigrated(40, MigratedExplicit(None, 17, 58.2, "aldfkja"))
+    bag.write("partially_migrated", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/renamed_gen1.bag", "w")
+    m = Renamed1(2.17, [8, 2, 5])
+    bag.write("renamed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/convergent_gen1.bag", "w")
+    m = Convergent(1.2, 3.4, 5.6, 7.8, SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44))
+    bag.write("convergent", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/converged_gen1.bag", "w")
+    m = Converged([1.2, 3.4, 5.6, 7.8], [SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44)])
+    bag.write("converged", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/constants_gen1.bag", "w")
+    m = Constants(Constants.CONSTANT)
+    bag.write("constants", m, genpy.Time())
+    bag.close()
+        
+if __name__ == '__main__':
+    generate_data()

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/scripts/generate_data_2.py

@@ -0,0 +1,83 @@
+#!/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 rospy
+from test_rosbag.msg import *
+
+import genpy
+import rosbag
+
+def generate_data():
+    bag = rosbag.Bag("test/migrated_explicit_gen2.bag", "w")
+    m = MigratedExplicit(None, 17, 58.2, "aldfkja", 82)
+    bag.write("migrated_explicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_implicit_gen2.bag", "w")
+    m = MigratedImplicit(None, 34, 16.32, "kljene", MigratedExplicit(None, 17, 58.2, "aldfkja", 82))
+    bag.write("migrated_implicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_mixed_gen2.bag", "w")
+    m = MigratedMixed(None, MigratedImplicit(None, 34, 16.32, "kljene", MigratedExplicit(None, 17, 58.2, "aldfkja", 82)))
+    bag.write("migrated_mixed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/partially_migrated_gen2.bag", "w")
+    m = PartiallyMigrated(40, MigratedExplicit(None, 17, 58.2, "aldfkja", 82))
+    bag.write("partially_migrated", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/renamed_gen2.bag", "w")
+    m = Renamed2(2.17, [8, 2, 5])
+    bag.write("renamed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/convergent_gen2.bag", "w")
+    m = Convergent(1.2, 3.4, 5.6, 7.8, SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44))
+    bag.write("convergent", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/converged_gen2.bag", "w")
+    m = Converged([1.2, 3.4, 5.6, 7.8], [SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44)])
+    bag.write("converged", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/constants_gen2.bag", "w")
+    m = Constants(Constants.CONSTANT)
+    bag.write("constants", m, genpy.Time())
+    bag.close()
+        
+if __name__ == '__main__':
+    generate_data()

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/scripts/generate_data_3.py

@@ -0,0 +1,71 @@
+#!/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 rospy
+from test_rosbag.msg import *
+
+import rosbag
+
+def generate_data():
+    bag = rosbag.Bag("test/migrated_explicit_gen3.bag", "w")
+    m = MigratedExplicit(None, 17, 58.2, "aldfkja", 82)
+    bag.write("migrated_explicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_implicit_gen3.bag", "w")
+    m = MigratedImplicit(None, MigratedExplicit(None, 17, 58.2, "aldfkja", 82), "kljene", 16.32, 34)
+    bag.write("migrated_implicit", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/migrated_mixed_gen3.bag", "w")
+    m = MigratedMixed(None, MigratedImplicit(None, MigratedExplicit(None, 17, 58.2, "aldfkja", 82), "kljene", 16.32, 34), 59)
+    bag.write("migrated_mixed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/partially_migrated_gen3.bag", "w")
+    m = PartiallyMigrated(40, MigratedExplicit(None, 17, 58.2, "aldfkja", 82), "radasdk")
+    bag.write("partially_migrated", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/renamed_gen3.bag", "w")
+    m = Renamed3(2.17, [8, 2, 5, 1])
+    bag.write("renamed", m, genpy.Time())
+    bag.close()
+
+    bag = rosbag.Bag("test/converged_gen3.bag", "w")
+    m = Converged([1.2, 3.4, 5.6, 7.8], [SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44)])
+    bag.write("converged", m, genpy.Time())
+    bag.close()
+        
+if __name__ == '__main__':
+    generate_data()

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/constants.bmr

@@ -0,0 +1,23 @@
+class update_test_rosbag_Constants_06a34bda7d4ea2950ab952e89ca35d7a(MessageUpdateRule):
+    old_type = "test_rosbag/Constants"
+    old_full_text = """
+int32 CONSTANT=1
+int32 value
+"""
+
+    new_type = "test_rosbag/Constants"
+    new_full_text = """
+int32 CONSTANT=2
+int32 CONSTANT_TWO=42
+int32 value
+"""
+
+    order = 0
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        #Constant 'CONSTANT' has changed
+        if (old_msg.value == old_msg.CONSTANT):
+            new_msg.value = new_msg.CONSTANT

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/converged_rules.bmr

@@ -0,0 +1,63 @@
+class update_test_rosbag_Convergent_fadc2231052dc3e2ecb5a84eea7e1e2d(MessageUpdateRule):
+    old_type = "test_rosbag/Convergent"
+    old_full_text = """
+float32   field1_a # 1.2
+float32   field1_b # 3.4
+float32   field1_c # 5.6
+float32   field1_d # 7.8
+
+SimpleMigrated     field2_a # 11
+SimpleMigrated     field2_b # 22
+SimpleMigrated     field2_c # 33
+SimpleMigrated     field2_d # 44
+================================================================================
+MSG: test_rosbag/SimpleMigrated
+int32 data2 # 42
+"""
+
+    new_type = "test_rosbag/Converged"
+    new_full_text = """
+float32[]   field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[]    field2 # [11, 22, 33, 44]
+================================================================================
+MSG: test_rosbag/SimpleMigrated
+int32 data2 # 42
+"""
+
+    order = 0
+    migrated_types = [('SimpleMigrated', 'SimpleMigrated')]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.field1 = [old_msg.field1_a, old_msg.field1_b, old_msg.field1_c, old_msg.field1_d]
+        old_array = [old_msg.field2_a, old_msg.field2_b, old_msg.field2_c, old_msg.field2_d]
+        self.migrate_array(old_array, new_msg.field2, 'SimpleMigrated')
+
+class update_test_rosbag_Converged_a47f409894343606276bb95cd2fd6b12(MessageUpdateRule):
+    old_type = "test_rosbag/Converged"
+    old_full_text = """
+float32[]   field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[]    field2 # [11, 22, 33, 44]
+================================================================================
+MSG: test_rosbag/SimpleMigrated
+int32 data2 # 42
+"""
+
+    new_type = "test_rosbag/Converged"
+    new_full_text = """
+float32[4]           field1 # [1.2, 3.4, 5.6, 7.8]
+SimpleMigrated[4]    field2 # [11, 22, 33, 44]
+================================================================================
+MSG: test_rosbag/SimpleMigrated
+int32 data3 # 42
+"""
+
+    order = 0
+    migrated_types = [('SimpleMigrated', 'SimpleMigrated')]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.field1 = old_msg.field1
+        self.migrate_array(old_msg.field2, new_msg.field2, 'SimpleMigrated')

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/migrate_test.py.in

@@ -0,0 +1,397 @@
+#!/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 sys
+import struct
+
+import unittest
+
+import rospkg
+import rostest
+import rosbag
+
+class MigrationTest(unittest.TestCase):
+
+  def setUp(self):
+    self.pkg_dir = rospkg.RosPack().get_path('test_rosbag')
+    self.pkg_binary_dir = '@PROJECT_BINARY_DIR@'
+
+  def test_unmigrated(self):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/unmigrated_gen1.bag"%(self.pkg_binary_dir,)
+
+    mm = rosbag.migration.MessageMigrator(rule_files,False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(len(res[0][1]) == 1)
+    self.assertTrue(not res[0][1][0].valid)
+    self.assertEqual(res[0][1][0].old_class._md5sum, '4b12e5ff694b0e2a31b2ea9e0bd900f4')
+    self.assertEqual(res[0][1][0].new_class._md5sum, 'b5d640967dccef2a24697ec4b8a571ec')
+
+
+  def test_subunmigrated(self):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/subunmigrated_gen1.bag"%(self.pkg_binary_dir,)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(len(res[0][1]) == 1)
+    self.assertTrue(not res[0][1][0].valid)
+    self.assertEqual(res[0][1][0].old_class._md5sum, '4b12e5ff694b0e2a31b2ea9e0bd900f4')
+    self.assertEqual(res[0][1][0].new_class._md5sum, 'b5d640967dccef2a24697ec4b8a571ec')
+
+  def do_partially_migrated(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr', 'partially_migrated_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/partially_migrated_gen%d.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(len(res[0][1]) == 1)
+    self.assertTrue(not res[0][1][0].valid)
+    self.assertEqual(res[0][1][0].old_class._md5sum, 'aba12af164ecf3f5cd150fb990205c4b')
+    self.assertEqual(res[0][1][0].new_class._md5sum, 'b942bf4a41fb2bebc502889fd8981dfe')
+    
+
+  def test_partially_migrated_gen1(self):
+    self.do_partially_migrated(1)
+
+  def test_partially_migrated_gen2(self):
+    self.do_partially_migrated(2)
+
+  def test_partially_migrated_gen3(self):
+    self.do_partially_migrated(3)
+
+
+  def test_addsub(self):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/migrated_addsub_gen1.bag"%(self.pkg_binary_dir,)
+    outbag = "%s/test/migrated_addsub_gen1.fixed.bag"%(self.pkg_binary_dir,)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1].field1.field1, 42)
+    self.assertEqual(msgs[0][1].field2.field1, 42)
+
+
+  def do_migrated_explicit(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/migrated_explicit_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/migrated_explicit_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1].afield2, struct.unpack('<f',struct.pack('<f',58.2))[0])
+    self.assertEqual(msgs[0][1].combo_field3, "aldfkja 17")
+    self.assertEqual(msgs[0][1].afield4, 82)
+
+  def test_migrated_explicit_gen1(self):
+    self.do_migrated_explicit(1)
+
+  def test_migrated_explicit_gen2(self):
+    self.do_migrated_explicit(2)
+
+  def test_migrated_explicit_gen3(self):
+    self.do_migrated_explicit(3)
+
+
+
+  def do_migrated_implicit(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/migrated_implicit_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/migrated_implicit_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag
+)
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1].field4.afield2, struct.unpack('<f',struct.pack('<f',58.2))[0])
+    self.assertEqual(msgs[0][1].field4.combo_field3, "aldfkja 17")
+    self.assertEqual(msgs[0][1].field4.afield4, 82)
+
+    self.assertEqual(msgs[0][1].field1, 34)
+    self.assertEqual(msgs[0][1].field2, struct.unpack('<f',struct.pack('<f',16.32))[0])
+    self.assertEqual(msgs[0][1].field3, "kljene")
+
+
+  def test_migrated_implicit_gen1(self):
+    self.do_migrated_implicit(1)
+
+  def test_migrated_implicit_gen2(self):
+    self.do_migrated_implicit(2)
+
+  def test_migrated_implicit_gen3(self):
+    self.do_migrated_implicit(3)
+
+
+
+  def do_migrated_mixed(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/migrated_mixed_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/migrated_mixed_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1].field1.field4.afield2, struct.unpack('<f',struct.pack('<f',58.2))[0])
+    self.assertEqual(msgs[0][1].field1.field4.combo_field3, "aldfkja 17")
+    self.assertEqual(msgs[0][1].field1.field4.afield4, 82)
+
+    self.assertEqual(msgs[0][1].field1.field1, 34)
+    self.assertEqual(msgs[0][1].field1.field2, struct.unpack('<f',struct.pack('<f',16.32))[0])
+    self.assertEqual(msgs[0][1].field1.field3, "kljene")
+
+    self.assertEqual(msgs[0][1].field2, 59)
+
+  def test_migrated_mixed_gen1(self):
+    self.do_migrated_mixed(1)
+
+  def test_migrated_mixed_gen2(self):
+    self.do_migrated_mixed(2)
+
+  def test_migrated_mixed_gen3(self):
+    self.do_migrated_mixed(3)
+
+
+
+  def do_renamed(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr', 'renamed_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/renamed_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/renamed_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag
+)
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+
+    self.assertEqual(msgs[0][1]._type, 'test_rosbag/Renamed4', 'Type name is wrong')
+    self.assertEqual(msgs[0][1].foo, struct.unpack('<d',struct.pack('<d',2.17))[0])
+    self.assertEqual(msgs[0][1].bar, (8, 2, 5, 1))
+
+
+  def test_renamed_gen1(self):
+    self.do_renamed(1)
+
+  def test_renamed_gen2(self):
+    self.do_renamed(2)
+
+  def test_renamed_gen3(self):
+    self.do_renamed(3)
+
+
+  def do_converged(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr', 'renamed_rules.bmr', 'simple_migrated_rules.bmr', 'converged_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/converged_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/converged_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1]._type, 'test_rosbag/Converged', 'Type name is wrong')
+    self.assertEqual(msgs[0][1].field1[0], struct.unpack('<f',struct.pack('<f',1.2))[0])
+    self.assertEqual(msgs[0][1].field1[1], struct.unpack('<f',struct.pack('<f',3.4))[0])
+    self.assertEqual(msgs[0][1].field1[2], struct.unpack('<f',struct.pack('<f',5.6))[0])
+    self.assertEqual(msgs[0][1].field1[3], struct.unpack('<f',struct.pack('<f',7.8))[0])
+
+    self.assertEqual(msgs[0][1].field2[0].data, 11)
+    self.assertEqual(msgs[0][1].field2[1].data, 22)
+    self.assertEqual(msgs[0][1].field2[2].data, 33)
+    self.assertEqual(msgs[0][1].field2[3].data, 44)
+
+
+  def test_converged_gen1(self):
+    self.do_converged(1)
+
+  def test_converged_gen2(self):
+    self.do_converged(2)
+
+  def test_converged_gen3(self):
+    self.do_converged(3)
+
+
+  def do_convergent(self, N):
+    tmp_rule_files = ['migrated_explicit_rules.bmr', 'migrated_mixed_rules.bmr', 'migrated_addsub_rules.bmr', 'renamed_rules.bmr', 'simple_migrated_rules.bmr', 'converged_rules.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/convergent_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/convergent_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1]._type, 'test_rosbag/Converged', 'Type name is wrong')
+    self.assertEqual(msgs[0][1].field1[0], struct.unpack('<f',struct.pack('<f',1.2))[0])
+    self.assertEqual(msgs[0][1].field1[1], struct.unpack('<f',struct.pack('<f',3.4))[0])
+    self.assertEqual(msgs[0][1].field1[2], struct.unpack('<f',struct.pack('<f',5.6))[0])
+    self.assertEqual(msgs[0][1].field1[3], struct.unpack('<f',struct.pack('<f',7.8))[0])
+
+    self.assertEqual(msgs[0][1].field2[0].data, 11)
+    self.assertEqual(msgs[0][1].field2[1].data, 22)
+    self.assertEqual(msgs[0][1].field2[2].data, 33)
+    self.assertEqual(msgs[0][1].field2[3].data, 44)
+
+
+  def test_convergent_gen1(self):
+    self.do_convergent(1)
+
+  def test_convergent_gen2(self):
+    self.do_convergent(2)
+
+
+
+
+  def do_constants_no_rules(self, N):
+    tmp_rule_files = []
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/constants_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/constants_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(len(res[0][1]) == 1)
+    self.assertTrue(not res[0][1][0].valid)
+    self.assertEqual(res[0][1][0].old_class._md5sum, '06a34bda7d4ea2950ab952e89ca35d7a')
+    self.assertEqual(res[0][1][0].new_class._md5sum, 'b45401c4d442c4da7b0a2a105075fa4a')
+
+
+  def do_constants_rules(self, N):
+    tmp_rule_files = ['constants.bmr']
+    rule_files = ["%s/bag_migration_tests/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/constants_gen%d.bag"%(self.pkg_binary_dir,N)
+    outbag = "%s/test/constants_gen%d.fixed.bag"%(self.pkg_binary_dir,N)
+
+    mm = rosbag.migration.MessageMigrator(rule_files, False)
+    res = rosbag.migration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbag.migration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosbag.Bag(outbag).read_messages()]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1]._type, 'test_rosbag/Constants', 'Type name is wrong')
+    self.assertEqual(msgs[0][1].value, msgs[0][1].CONSTANT)
+
+
+  def test_constants_no_rules_gen1(self):
+    self.do_constants_no_rules(1)
+
+  def test_constants_gen1(self):
+    self.do_constants_rules(1)
+
+  def test_constants_gen2(self):
+    self.do_constants_rules(2)
+
+
+if __name__ == '__main__':
+  rostest.unitrun('test_rosbag', 'migration_test', MigrationTest, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/migrated_addsub_rules.bmr

@@ -0,0 +1,26 @@
+class update_test_rosbag_MigratedAddSub_c5d68a52143661d05909248952fc11f1(MessageUpdateRule):
+    old_type = "test_rosbag/MigratedAddSub"
+    old_full_text = """
+Simple field1
+================================================================================
+MSG: test_rosbag/Simple
+int32 field1 #42
+"""
+
+    new_type = "test_rosbag/MigratedAddSub"
+    new_full_text = """
+Simple field1
+Simple field2
+================================================================================
+MSG: test_rosbag/Simple
+int32 field1 #42
+"""
+
+    order = 0
+    migrated_types = [("Simple","Simple"),]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        self.migrate(old_msg.field1, new_msg.field1)
+        new_msg.field2 = self.get_new_class('Simple')(42)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/migrated_explicit_rules.bmr

@@ -0,0 +1,181 @@
+class update_test_rosbag_MigratedExplicit_c7936d50a749a1f589d6fc81eae24b34(MessageUpdateRule):
+    old_type = "test_rosbag/MigratedExplicit"
+    new_type = "test_rosbag/MigratedExplicit"
+    old_full_text = """
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+    new_full_text = """
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+int32   field4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+    order = 0
+
+    migrated_types = [
+        ("Header","Header"),
+    ]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        self.migrate(old_msg.header, new_msg.header)
+        new_msg.field1 = old_msg.field1
+        new_msg.field2 = old_msg.field2
+        new_msg.field3 = old_msg.field3
+        new_msg.field4 = 82
+
+
+
+class update_test_rosbag_MigratedExplicit_fa072fb3cfcf105e1e5609a7467e2a14(MessageUpdateRule):
+    old_type = "test_rosbag/MigratedExplicit"
+    new_type = "test_rosbag/MigratedExplicit"
+    old_full_text = """
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+int32   field4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+    new_full_text = """
+Header  header
+int32   afield1 #17
+float32 afield2 #58.2
+string  afield3 #"aldfkja"
+int32   afield4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+    order = 1
+
+    migrated_types = [
+        ("Header","Header"),
+    ]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        self.migrate(old_msg.header, new_msg.header)
+        new_msg.afield1 = old_msg.field1
+        new_msg.afield2 = old_msg.field2
+        new_msg.afield3 = old_msg.field3
+        new_msg.afield4 = old_msg.field4
+
+
+class update_test_rosbag_MigratedExplicit_0a3e03fbb60b5f9abd4beedae6080fce(MessageUpdateRule):
+    old_type = "test_rosbag/MigratedExplicit"
+    new_type = "test_rosbag/MigratedExplicit"
+    old_full_text = """
+Header  header
+int32   afield1 #17
+float32 afield2 #58.2
+string  afield3 #"aldfkja"
+int32   afield4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+    new_full_text = """
+Header  header
+float32 afield2 #58.2
+string  combo_field3 #"aldfkja 17"
+int32   afield4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+    order = 2
+
+    migrated_types = [
+        ("Header","Header"),
+    ]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        self.migrate(old_msg.header, new_msg.header)
+        new_msg.afield2 = old_msg.afield2
+        new_msg.combo_field3 = old_msg.afield3 + ' ' + str(old_msg.afield1)
+        new_msg.afield4 = old_msg.afield4

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/migrated_mixed_rules.bmr

@@ -0,0 +1,89 @@
+class update_test_rosbag_MigratedMixed_5568494133a082ad58ef1aa391f47e2b(MessageUpdateRule):
+    old_type = "test_rosbag/MigratedMixed"
+    old_full_text = """
+Header             header
+MigratedImplicit   field1 #(34, 16.32, "kjljene", (17, 58.2, "aldfkja", 82))
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: test_rosbag/MigratedImplicit
+Header  header
+int32   field1 #34
+float32 field2 #16.32
+string  field3 #"kljene"
+MigratedExplicit field4 #(17, 58.2 "aldfkja", 82)
+
+================================================================================
+MSG: test_rosbag/MigratedExplicit
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+int32   field4 #82
+"""
+
+    new_type = "test_rosbag/MigratedMixed"
+    new_full_text = """
+Header             header
+MigratedImplicit   field1 #((17, 58.2, "aldfkja", 82), "kjljene", 16.32, 34)
+int32              field2 #59
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: test_rosbag/MigratedImplicit
+Header  header
+MigratedExplicit field4 #(17, 58.2 "aldfkja", 82)
+string  field3 #"kljene"
+float32 field2 #16.32
+int32   field1 #34
+
+================================================================================
+MSG: test_rosbag/MigratedExplicit
+Header  header
+int32   afield1 #17
+float32 afield2 #58.2
+string  afield3 #"aldfkja"
+int32   afield4 #82
+"""
+
+    order = 0
+    migrated_types = [
+        ("Header","Header"),
+        ("MigratedImplicit","MigratedImplicit"),
+
+    ]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        self.migrate(old_msg.header, new_msg.header)
+        self.migrate(old_msg.field1, new_msg.field1)
+        new_msg.field2 = 59

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/partially_migrated_rules.bmr

@@ -0,0 +1,67 @@
+class update_test_rosbag_PartiallyMigrated_e6d73341e7b3f15f987c0cf194f97350(MessageUpdateRule):
+    old_type = "test_rosbag/PartiallyMigrated"
+    old_full_text = """
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja", 82)
+
+================================================================================
+MSG: test_rosbag/MigratedExplicit
+Header  header
+int32   field1 #17
+float32 field2 #58.2
+string  field3 #"aldfkja"
+int32   field4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+    new_type = "test_rosbag/PartiallyMigrated"
+    new_full_text = """
+int32            field1 # 40
+MigratedExplicit field2 # (17, 58.2, "aldfkja", 82)
+string           field3 # "radasdk"
+
+================================================================================
+MSG: test_rosbag/MigratedExplicit
+Header  header
+int32   afield1 #17
+float32 afield2 #58.2
+string  afield3 #"aldfkja"
+int32   afield4 #82
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+    order = 0
+    migrated_types = [("MigratedExplicit","MigratedExplicit"),]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.field1 = old_msg.field1
+        self.migrate(old_msg.field2, new_msg.field2)
+        new_msg.field3 = 'radasdk'

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_messages.py

@@ -0,0 +1,198 @@
+# 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 rospy
+import random
+import genmsg.msgs
+import genpy.dynamic
+
+def get_sub_defs(msg_fqn, msg_txt):
+    def_dict = {}
+    defs = msg_txt.split("\n" + "="*80 + "\n")
+    def_dict[msg_fqn] = defs[0]
+    for d in defs[1:]:
+        lines = d.splitlines()
+        if not lines[0].startswith("MSG: "):
+            raise Exception("Invalid sub definition!")
+        type = lines[0][5:].strip()
+        def_txt = "\n".join(lines[1:])
+        def_dict[type] = def_txt
+    return def_dict
+
+class RandomMsgGen(object):
+    def randstr(self, length=0):
+        if length == 0:
+            length = self.rand.randint(3,10)
+        return ''.join([chr(self.rand.randint(ord('a'), ord('z'))) for i in range(length)])
+
+    def __init__(self, seed, num_topics, duration):
+        self.message_defs = {}
+        self.message_dict = {}
+        self.topic_dict = {}
+        self.duration = duration
+        self.output = []
+
+        self.rand = random.Random(seed)
+
+        for i in range(num_topics):
+            msg_pkg = self.randstr()
+            msg_name = self.randstr()
+            msg_fqn = "%s/%s"%(msg_pkg,msg_name)
+            msg_fields = []
+            
+            msg_def = ""
+            msg_sub_defs = {}
+            
+            for j in range(self.rand.randint(3,5)):
+                field_name = self.randstr()
+                field_type = self.rand.choice(genmsg.msgs.BUILTIN_TYPES + list(self.message_defs.keys()))
+                field_array = self.rand.choice(5*[""]+["[]","[%d]"%self.rand.randint(1,10)])
+
+                if (field_type not in genmsg.msgs.BUILTIN_TYPES):
+                    tmp = get_sub_defs(field_type, self.message_defs[field_type])
+                    for (sm_type, sm_def) in tmp.items():
+                        msg_sub_defs[sm_type] = sm_def
+
+                msg_def = msg_def + "%s%s %s\n"%(field_type, field_array, field_name)
+
+            for (t,d) in msg_sub_defs.items():
+                msg_def = msg_def + "\n" + "="*80 + "\n"
+                msg_def = msg_def + "MSG: %s\n"%(t)
+                msg_def = msg_def + d
+
+            self.message_defs[msg_fqn] = msg_def
+
+            topic_name = self.randstr()
+
+            self.message_dict[msg_fqn] = genpy.dynamic.generate_dynamic(msg_fqn, msg_def)[msg_fqn] 
+            self.topic_dict[topic_name] = self.message_dict[msg_fqn]
+
+        time = 0.0
+        while time < duration:
+            topic = self.rand.choice(list(self.topic_dict.keys()))
+            msg_inst = self.rand_value(self.topic_dict[topic]._type)
+            self.output.append((topic, msg_inst, time))
+            time = time + self.rand.random()*.01
+
+    def topics(self):
+        return self.topic_dict.items()
+
+    def messages(self):
+        for m in self.output:
+            yield m
+
+    def message_count(self):
+        return len(self.output)
+    
+    def rand_value(self, field_type):
+        if field_type == 'bool':
+            return self.rand.randint(0,1)
+        elif field_type == 'byte':
+            return self.rand.randint(0,2**7-1)
+        elif field_type == 'int8':
+            return self.rand.randint(-2**7,2**7-1)
+        elif field_type == 'int16':
+            return self.rand.randint(-2**15,2**15-1)
+        elif field_type == 'int32':
+            return self.rand.randint(-2**31,2**31-1)
+        elif field_type == 'int64':
+            return self.rand.randint(-2**63,2**63-1)
+        elif field_type == 'char':
+            return self.rand.randint(0,2**8-1)
+        elif field_type == 'uint8':
+            return self.rand.randint(0,2**8-1)
+        elif field_type == 'uint16':
+            return self.rand.randint(0,2**16-1)
+        elif field_type == 'uint32':
+            return self.rand.randint(0,2**32-1)
+        elif field_type == 'uint64':
+            return self.rand.randint(0,2**64-1)
+        elif field_type == 'float32':
+            return self.rand.random()
+        elif field_type == 'float64':
+            return self.rand.random()
+        elif field_type == 'string':
+            return self.randstr(100)
+        elif field_type == 'duration':
+            return rospy.Duration.from_sec(self.rand.random())
+        elif field_type == 'time':
+            return rospy.Time.from_sec(self.rand.random()*1000)
+        elif field_type.endswith(']'): # array type
+            base_type, is_array, array_len = genmsg.msgs.parse_type(field_type)
+            
+            if array_len is None:
+                array_len = self.rand.randint(1,100)
+
+            # Make this more efficient rather than depend on recursion inside the array check
+            if field_type == 'bool':
+                return [ self.rand.randint(0,1) for i in range(0,array_len) ]
+            elif field_type == 'byte':
+                return [ self.rand.randint(-2**7,2**7-1) for i in range(0,array_len) ]
+            elif field_type == 'int8':
+                return [ self.rand.randint(-2**7,2**7-1) for i in range(0,array_len) ]
+            elif field_type == 'int16':
+                return [ self.rand.randint(-2**15,2**15-1) for i in range(0,array_len) ]
+            elif field_type == 'int32':
+                return [ self.rand.randint(-2**31,2**31-1) for i in range(0,array_len) ]
+            elif field_type == 'int64':
+                return [ self.rand.randint(-2**63,2**63-1) for i in range(0,array_len) ]
+            elif field_type == 'char':
+                return [ self.rand.randint(0,2**8-1) for i in range(0,array_len) ]
+            elif field_type == 'uint8':
+                return [ self.rand.randint(0,2**8-1) for i in range(0,array_len) ]
+            elif field_type == 'uint16':
+                return [ self.rand.randint(0,2**16-1) for i in range(0,array_len) ]
+            elif field_type == 'uint32':
+                return [ self.rand.randint(0,2**32-1) for i in range(0,array_len) ]
+            elif field_type == 'uint64':
+                return [ self.rand.randint(0,2**64-1) for i in range(0,array_len) ]
+            elif field_type == 'float32':
+                return [ self.rand.random() for i in range(0,array_len) ]
+            elif field_type == 'float64':
+                return [ self.rand.random() for i in range(0,array_len) ]
+            elif field_type == 'string':
+                return [ self.randstr(100) for i in range(0,array_len) ]
+            elif field_type == 'duration':
+                return [ rospy.Duration.from_sec(self.rand.random()) for i in range(0,array_len) ]
+            elif field_type == 'time':
+                return [ rospy.Time.from_sec(self.rand.random()*1000) for i in range(0,array_len) ]
+            else:
+                return [ self.rand_value(base_type) for i in range(0,array_len) ]
+
+        else:
+            msg_class = self.message_dict[field_type]
+            msg_inst = msg_class()
+            for s in msg_inst.__slots__:
+                ind = msg_inst.__slots__.index(s)
+                msg_inst.__setattr__(s,self.rand_value(msg_inst._slot_types[ind]))
+            return msg_inst

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_play.py

@@ -0,0 +1,171 @@
+#!/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 unittest
+import rospy
+import rostest
+import sys
+try:
+    from cStringIO import StringIO
+except ImportError:
+    from io import StringIO
+import time
+from random_messages import RandomMsgGen
+import subprocess
+import os
+
+import genpy
+
+DELAY = 0.5
+
+class RandomPlay(unittest.TestCase):
+
+  def msg_cb_topic(self, topic):
+    def msg_cb(msg):
+      nowtime = rospy.Time.now()
+
+      if self.start is None:
+        self.start = nowtime
+
+      nowtime -= self.start
+
+      self.input.append((topic, msg, nowtime.to_sec()))
+
+    return msg_cb
+
+
+  def test_random_play(self):
+    rospy.init_node('random_sub', anonymous=True)
+
+    self.start = None
+    self.input = []
+
+    self.assertTrue(len(sys.argv[1]) > 3)
+
+    seed    = int(sys.argv[1])
+    topics  = int(sys.argv[2])
+    length  = float(sys.argv[3])
+    scale   = float(sys.argv[4])
+    self.use_clock = bool(int(sys.argv[5]))
+
+    rmg = RandomMsgGen(int(seed), topics, length)
+
+    subscribers = {}
+    for (topic, msg_class) in rmg.topics():
+      subscribers[topic] = rospy.Subscriber(topic, msg_class, self.msg_cb_topic(topic))
+
+    bagpath = os.path.join('/tmp', 'test_rosbag_random_record_%d.bag'%seed)
+    cmd = ['rosbag', 'play', '-d', str(DELAY), '-r', str(scale)]
+    
+    rospy.loginfo(str(cmd))
+
+    if (self.use_clock):
+      cmd += ['--clock', '--hz', '100']
+
+    cmd += [bagpath]
+
+    try:
+      f1 = subprocess.Popen(cmd)
+
+      last_input_count = 0
+      while (len(self.input) < rmg.message_count()):
+#        print "\n%d/%d\n"%(len(self.input), rmg.message_count())
+        time.sleep(1.0)
+        # abort loop if no input is coming in anymore and process has finished
+        if len(self.input) == last_input_count:
+          rc = f1.poll()
+          if rc is not None:
+            self.assertEqual(rc, 0)
+            break
+        last_input_count = len(self.input)
+
+      self.assertEqual(len(self.input), rmg.message_count())
+
+      max_late = 0
+      max_early = 0
+      avg_off = 0
+      power = 0
+
+      for (expect_topic, expect_msg, expect_time) in rmg.messages():
+
+        if (not self.use_clock):
+          expect_time /= scale
+
+        buff = StringIO()
+        expect_msg.serialize(buff)
+        expect_msg.deserialize(buff.getvalue())
+
+        msg_match = False
+
+        for ind in range(0,100):
+          (input_topic, input_msg, input_time) = self.input[ind]
+
+          if (genpy.message.strify_message(expect_msg) == genpy.message.strify_message(input_msg)):
+            msg_match = True
+            del self.input[ind]
+
+            # stats
+            diff = input_time - expect_time
+
+            if (diff < max_early):
+              max_early = diff
+
+            if (diff > max_late):
+              max_late = diff
+
+            avg_off += diff / rmg.message_count()
+
+            power += (diff**2) / rmg.message_count()
+
+            # Messages can arrive late, but never very early Both of
+            # these bounds are much larger than they ought to be, but
+            # you never know with a heavily loaded system.
+            self.assertTrue(input_time - expect_time > -.5)
+            self.assertTrue(abs(input_time - expect_time) < 5.0)
+            break
+
+        if not msg_match:
+          print("No match at time: %f" % expect_time)
+
+        self.assertTrue(msg_match)
+
+      print("%f %f %f %f"%(max_early, max_late, avg_off, power))
+
+    finally:
+      f1.communicate()
+
+    self.assertEqual(f1.returncode, 0)
+
+if __name__ == '__main__':
+  rostest.rosrun('test_rosbag', 'random_record_play', RandomPlay, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_play.xml.in

@@ -0,0 +1,11 @@
+<launch>
+  <test time-limit="120" test-name="r02random_play" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 1.0 0" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+  <test time-limit="120" test-name="r03random_play" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 0.5 0" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+  <test time-limit="120" test-name="r04random_play" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 2.0 0" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_play_sim.xml.in

@@ -0,0 +1,12 @@
+<launch>
+  <param name="use_sim_time"  value="true"/>
+  <test time-limit="100" test-name="random_play05" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 1.0 1" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+  <test time-limit="100" test-name="random_play06" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 0.5 1" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+  <test time-limit="100" test-name="random_play07" pkg="test_rosbag" type="random_play.py" args="54321 10 10.0 2.0 1" retry="3">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_record.py

@@ -0,0 +1,112 @@
+#!/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 unittest
+import rospy
+import rostest
+import sys
+try:
+    from cStringIO import StringIO
+except ImportError:
+    from io import StringIO
+import time
+from random_messages import RandomMsgGen
+import subprocess
+import signal
+import os
+import atexit
+
+class RandomRecord(unittest.TestCase):
+
+  def test_random_record(self):
+    rospy.init_node('random_pub')
+  
+    if (len(sys.argv) < 2):
+      raise Exception("Expected seed as first argument")
+
+    seed = int(sys.argv[1])
+
+    seed    = int(sys.argv[1])
+    topics  = int(sys.argv[2])
+    length  = float(sys.argv[3])
+
+    rmg = RandomMsgGen(seed, topics, length)
+
+    publishers = {}
+
+    for (topic, msg_class) in rmg.topics():
+      publishers[topic] = rospy.Publisher(topic, msg_class)
+
+    bagpath = os.path.join('/tmp', 'test_rosbag_random_record_%d'%seed)
+    cmd = ['rosbag', 'record', '-a', '-O', bagpath]
+    f1 = subprocess.Popen(cmd)
+
+    def finalkill():
+      try:
+        os.kill(f1.pid, signal.SIGKILL)
+      except:
+        pass
+
+    atexit.register(finalkill)
+
+    # Sleep an extra 5 seconds for good measure
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    start = rospy.Time.now()
+    for (topic, msg, time) in rmg.messages():
+      d = start + rospy.Duration.from_sec(time) - rospy.Time.now()
+      rospy.sleep(d)
+      publishers[topic].publish(msg)
+
+    # Sleep an extra 5 seconds for good measure
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    # Initial terminate using SIGINT so bag clean up nicely
+    os.kill(-os.getpgrp(), signal.SIGINT)
+
+    # Sleep an extra 5 seconds for good measure
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    # Keep trying to kill until it's dead instead of blocking on communicate
+    while (f1.poll() is None):
+      try:
+        os.kill(f1.pid, signal.SIGKILL)
+      except:
+        pass
+      rospy.sleep(rospy.Duration.from_sec(1.0))
+      
+    self.assertEqual(f1.returncode, 0)
+
+
+if __name__ == '__main__':
+  rostest.rosrun('test_rosbag', 'random_record_play', RandomRecord, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/random_record.xml.in

@@ -0,0 +1,5 @@
+<launch>
+  <test time-limit="100" test-name="random_record_01" pkg="test_rosbag" type="random_record.py" args="54321 10 10.0">
+    <env name="PYTHONPATH" value="@PROJECT_SOURCE_DIR@/src:$(env PYTHONPATH)"/>
+  </test>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/renamed_rules.bmr

@@ -0,0 +1,65 @@
+class update_test_rosbag_Renamed1_2fbee7c2602a76620804dfad673383b9(MessageUpdateRule):
+    old_type = "test_rosbag/Renamed1"
+    old_full_text = """
+float64  foo  # 2.17
+int32[3] bar  # [8, 2, 5]
+"""
+
+    new_type = "test_rosbag/Renamed2"
+    new_full_text = """
+float64  foo  # 2.17
+int32[3] bar  # [8, 2, 5]
+"""
+
+    order = 0
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.foo = old_msg.foo
+        new_msg.bar = old_msg.bar
+
+class update_test_rosbag_Renamed2_2fbee7c2602a76620804dfad673383b9(MessageUpdateRule):
+    old_type = "test_rosbag/Renamed2"
+    old_full_text = """
+float64  foo  # 2.17
+int32[3] bar  # [8, 2, 5]
+"""
+
+    new_type = "test_rosbag/Renamed3"
+    new_full_text = """
+float64  foo  # 2.17
+int32[4] bar  # [8, 2, 5, 1]
+"""
+
+    order = 0
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.foo = old_msg.foo
+        new_msg.bar = [old_msg.bar[0], old_msg.bar[1], old_msg.bar[2],  1]
+
+class update_test_rosbag_Renamed3_dd19d6452bb5e45bb900f81fed30ae83(MessageUpdateRule):
+    old_type = "test_rosbag/Renamed3"
+    old_full_text = """
+float64  foo  # 2.17
+int32[4] bar  # [8, 2, 5, 1]
+"""
+
+    new_type = "test_rosbag/Renamed4"
+    new_full_text = """
+float64  foo  # 2.17
+int32[4] bar  # [8, 2, 5, 1]
+"""
+
+    order = 0
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.foo = old_msg.foo
+        new_msg.bar = old_msg.bar

thirdparty/ros/ros_comm/test/test_rosbag/bag_migration_tests/test/simple_migrated_rules.bmr

@@ -0,0 +1,58 @@
+class update_test_rosbag_SimpleMigrated_f3d103d10e4d7f4e5c4b19aa46d9a9dd(MessageUpdateRule):
+    old_type = "test_rosbag/SimpleMigrated"
+    old_full_text = """
+int32 data1 # 42
+"""
+
+    new_type = "test_rosbag/SimpleMigrated"
+    new_full_text = """
+int32 data2 # 42
+"""
+
+    order = 0
+    migrated_types = [
+
+    ]
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.data2 = old_msg.data1
+
+class update_test_rosbag_SimpleMigrated_01dfc3630b3a6d483b2f36047889c82c(MessageUpdateRule):
+    old_type = "test_rosbag/SimpleMigrated"
+    old_full_text = """
+int32 data2 # 42
+"""
+
+    new_type = "test_rosbag/SimpleMigrated"
+    new_full_text = """
+int32 data3 # 42
+"""
+
+    order = 1
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.data3 = old_msg.data2
+
+class update_test_rosbag_SimpleMigrated_e6246c5a2c249e1dd0fa12bf54357ad2(MessageUpdateRule):
+    old_type = "test_rosbag/SimpleMigrated"
+    old_full_text = """
+int32 data3 # 42
+"""
+
+    new_type = "test_rosbag/SimpleMigrated"
+    new_full_text = """
+int32 data # 42
+"""
+
+    order = 2
+    migrated_types = []
+
+    valid = True
+
+    def update(self, old_msg, new_msg):
+        new_msg.data = old_msg.data3

thirdparty/ros/ros_comm/test/test_rosbag/package.xml

@@ -0,0 +1,42 @@
+<package>
+  <name>test_rosbag</name>
+  <version>1.12.14</version>
+  <description>
+    A package containing the unit tests for rosbag.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rosbag</url>
+  <author>Tim Field</author>
+  <author>Jeremy Leibs</author>
+  <author>James Bowman</author>
+
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>boost</build_depend>
+  <build_depend>bzip2</build_depend>
+  <build_depend>cpp_common</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>python-imaging</build_depend>
+  <build_depend>rosbag</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>roscpp_serialization</build_depend>
+  <build_depend>rosgraph_msgs</build_depend>
+  <build_depend>rostest</build_depend>
+  <build_depend>rosunit</build_depend>
+  <build_depend>topic_tools</build_depend>
+  <build_depend>xmlrpcpp</build_depend>
+
+  <test_depend>genmsg</test_depend>
+  <test_depend>genpy</test_depend>
+  <test_depend>message_runtime</test_depend>
+  <test_depend>python-rospkg</test_depend>
+  <test_depend>roslib</test_depend>
+  <test_depend>rospy</test_depend>
+
+  <export>
+    <rosdoc config="${prefix}/rosdoc.yaml"/>
+  </export>
+</package>

thirdparty/ros/ros_comm/test/test_rosbag/test/connection_count.py

@@ -0,0 +1,65 @@
+#!/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 unittest
+import rosunit
+import sys
+import time
+import subprocess
+
+class ConnectionCount(unittest.TestCase):
+
+  def test_connection_count(self):
+    # Wait while the recorder creates a bag for us to examine
+    time.sleep(10.0)
+
+    # Check the connection count returned by `rosbag info`
+    # We could probably do this through the rosbag Python API...
+    cmd = ['rosbag', 'info', 
+           '/tmp/test_rosbag_record_two_publishers.bag',
+           '-y', '-k', 'topics']
+    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+    out,err = p.communicate()
+    self.assertEqual(p.returncode, 0, 'Failed to check bag\ncmd=%s\nstdout=%s\nstderr=%s'%(cmd,out,err))
+
+    conns = False
+    for l in out.decode().split('\n'):
+        f = l.strip().split(': ')
+        if len(f) == 2 and f[0] == 'connections':
+            conns = int(f[1])
+            break
+
+    self.assertEqual(conns, 2)
+
+if __name__ == '__main__':
+  rosunit.unitrun('test_rosbag', 'connection_count', ConnectionCount, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/test/double_pub.cpp

@@ -0,0 +1,22 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+int
+main(int argc, char** argv)
+{
+  ros::init(argc, argv, "double_pub");
+  ros::NodeHandle n;
+  ros::Publisher p1 = n.advertise<std_msgs::String>("chatter", 1);
+  ros::Publisher p2 = n.advertise<std_msgs::String>("rettahc", 1);
+
+  ros::Rate r(10.0);
+  while(ros::ok())
+  {
+    std_msgs::String s;
+    s.data = "hello";
+    p1.publish(s);
+    s.data = "goodbye";
+    p2.publish(s);
+  }
+  return 0;
+}

thirdparty/ros/ros_comm/test/test_rosbag/test/latched_pub.py

@@ -0,0 +1,56 @@
+#!/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 unittest
+import rospy
+import rostest
+import sys
+from std_msgs.msg import *
+
+class LatchedPub(unittest.TestCase):
+
+  def test_latched_pub(self):
+    rospy.init_node('latched_pub')
+
+    # Wait a while before publishing
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    pub= rospy.Publisher("chatter", String, latch=True)
+
+    pub.publish(String("hello"))
+
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+    
+
+if __name__ == '__main__':
+  rostest.rosrun('test_rosbag', 'latched_pub', LatchedPub, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/test/latched_pub.test

@@ -0,0 +1,4 @@
+<launch>
+  <node name="recorder" pkg="rosbag" type="record" args="chatter -O /tmp/test_rosbag_latched_pub"/>
+  <test test-name="latched_pub" pkg="test_rosbag" type="latched_pub.py"/>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/test/latched_sub.py

@@ -0,0 +1,60 @@
+#!/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 unittest
+import rospy
+import rostest
+import sys
+from std_msgs.msg import *
+
+class LatchedSub(unittest.TestCase):
+
+  def msg_cb(self, msg):
+    self.success = True
+
+
+  def test_latched_sub(self):
+    rospy.init_node('random_sub')
+
+    self.success = False
+
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    sub = rospy.Subscriber("chatter", String, self.msg_cb)
+
+    rospy.sleep(rospy.Duration.from_sec(5.0))
+
+    self.assertEqual(self.success, True)
+
+if __name__ == '__main__':
+  rostest.rosrun('rosbag', 'lateched_sub', LatchedSub, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/test/latched_sub.test.in

@@ -0,0 +1,4 @@
+<launch>
+  <node name="player" pkg="rosbag" type="play" args="@PROJECT_BINARY_DIR@/test/test_rosbag_latched_pub.bag --keep-alive"/>
+  <test test-name="latched_sub" pkg="test_rosbag" type="latched_sub.py"/>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/test/play_play.test.in

@@ -0,0 +1,9 @@
+<launch>
+  <node name="player" pkg="rosbag" type="play" args="@PROJECT_BINARY_DIR@/test/chatter_50hz.bag"/>
+  <test test-name="play_hztest" pkg="rostest" type="hztest">
+    <param name="topic" value="chatter"/>
+    <param name="hz" value="50.0"/>
+    <param name="hzerror" value="5"/>
+    <param name="test_duration" value="7.0" />
+  </test>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/test/record_one_publisher_two_topics.test

@@ -0,0 +1,7 @@
+<launch>
+  <node pkg="test_rosbag" type="double_pub" name="double_pub"/>
+  <node name="recorder" pkg="rosbag" type="record" output="screen"
+        args="chatter rettahc -O /tmp/test_rosbag_record_one_publisher_two_topics --duration=5"/>
+  <test test-name="topic_count" pkg="test_rosbag" type="topic_count.py"/>
+</launch>
+

thirdparty/ros/ros_comm/test/test_rosbag/test/record_two_publishers.test

@@ -0,0 +1,10 @@
+<launch>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub1" 
+        args="pub -r 10 chatter std_msgs/String chatter1"/>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub2" 
+        args="pub -r 10 chatter std_msgs/String chatter2"/>
+  <node name="recorder" pkg="rosbag" type="record" 
+        args="chatter -O /tmp/test_rosbag_record_two_publishers --duration=5"/>
+  <test test-name="connection_count" pkg="test_rosbag" type="connection_count.py"/>
+</launch>
+

thirdparty/ros/ros_comm/test/test_rosbag/test/rosbag_play.test.in

@@ -0,0 +1,9 @@
+<launch>
+  <node name="player" pkg="rosbag" type="rosbag" args="play @PROJECT_BINARY_DIR@/test/chatter_50hz.bag"/>
+  <test test-name="rosbag_play_hztest" pkg="rostest" type="hztest">
+    <param name="topic" value="chatter"/>
+    <param name="hz" value="50.0"/>
+    <param name="hzerror" value="5"/>
+    <param name="test_duration" value="7.0" />
+  </test>
+</launch>

thirdparty/ros/ros_comm/test/test_rosbag/test/test_bag.cpp.in

@@ -0,0 +1,657 @@
+// Copyright (c) 2010, 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.
+
+#include "ros/ros.h"
+#include "rosbag/bag.h"
+#include "rosbag/chunked_file.h"
+#include "rosbag/view.h"
+
+#include <sys/stat.h>
+#include <sys/types.h>
+
+#include <iostream>
+#include <set>
+
+#include <boost/assign/list_of.hpp>
+#include <boost/foreach.hpp>
+
+#include <gtest/gtest.h>
+
+#include "std_msgs/String.h"
+#include "std_msgs/Int32.h"
+
+#define foreach BOOST_FOREACH
+
+class BagTest : public testing::Test
+{
+protected:
+    std_msgs::String foo_, bar_;
+    std_msgs::Int32 i_;
+    
+    virtual void SetUp() {
+        foo_.data = std::string("foo");
+        bar_.data = std::string("bar");
+        i_.data = 42;
+    }
+
+    void dumpContents(std::string const& filename) {
+        rosbag::Bag b;
+        b.open(filename, rosbag::bagmode::Read);
+        dumpContents(b);        
+        b.close();
+    }
+
+    void dumpContents(rosbag::Bag& b) {
+        rosbag::View view(b);
+        foreach(rosbag::MessageInstance m, view)
+            std::cout << m.getTime() << ": [" << m.getTopic() << "]" << std::endl;
+    }
+
+    void checkContents(std::string const& filename) {
+        rosbag::Bag b;
+        b.open(filename, rosbag::bagmode::Read);
+
+        int message_count = 0;
+
+        rosbag::View view(b);
+        foreach(rosbag::MessageInstance m, view) {
+            std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
+            if (s != NULL) {
+                ASSERT_EQ(s->data, foo_.data);
+                message_count++;
+            }
+            std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+            if (i != NULL) {
+                ASSERT_EQ(i->data, i_.data);
+                message_count++;
+            }
+        }
+        ASSERT_EQ(message_count, 2);
+
+        b.close();
+    }
+};
+
+TEST_F(BagTest, write_then_read_works) {
+    std::string filename("/tmp/write_then_read_works.bag");
+
+    rosbag::Bag b1;
+    b1.open(filename, rosbag::bagmode::Write);
+    b1.write("chatter", ros::Time::now(), foo_);
+    b1.write("numbers", ros::Time::now(), i_);
+    b1.close();
+
+    checkContents(filename);
+}
+
+TEST_F(BagTest, append_works) {
+    std::string filename("/tmp/append_works.bag");
+
+    rosbag::Bag b1;
+    b1.open(filename, rosbag::bagmode::Write);
+    b1.write("chatter", ros::Time::now(), foo_);
+    b1.close();
+
+    rosbag::Bag b2;
+    b2.open(filename, rosbag::bagmode::Append);
+    b2.write("numbers", ros::Time::now(), i_);
+    b2.close();
+
+    checkContents(filename);
+}
+
+TEST_F(BagTest, different_writes) {
+    std::string filename("/tmp/different_writes.bag");
+
+    rosbag::Bag b1;
+    b1.open(filename, rosbag::bagmode::Write | rosbag::bagmode::Read);
+
+    std_msgs::String msg1;
+    std_msgs::String::Ptr msg2 = boost::make_shared<std_msgs::String>();
+    std_msgs::String::ConstPtr msg3 = boost::make_shared<std_msgs::String const>();
+    
+    rosbag::View view;
+    view.addQuery(b1);
+
+    b1.write("t1", ros::Time::now(), msg1);
+    b1.write("t2", ros::Time::now(), msg2);
+    b1.write("t3", ros::Time::now(), msg3);
+    b1.write("t4", ros::Time::now(), *view.begin());
+
+    ASSERT_EQ(view.size(), (uint32_t)(4));
+
+    b1.close();
+}
+
+TEST_F(BagTest, reopen_works) {
+    rosbag::Bag b;
+
+    std::string filename1("/tmp/reopen_works1.bag");
+    b.open(filename1, rosbag::bagmode::Write);
+    b.write("chatter", ros::Time::now(), foo_);
+    b.write("numbers", ros::Time::now(), i_);
+    b.close();
+
+    std::string filename2("/tmp/reopen_works1.bag");
+    b.open(filename2, rosbag::bagmode::Write);
+    b.write("chatter", ros::Time::now(), foo_);
+    b.write("numbers", ros::Time::now(), i_);
+    b.close();
+
+    checkContents(filename1);
+    checkContents(filename2);
+}
+
+TEST_F(BagTest, bag_not_open_fails) {
+    rosbag::Bag b;
+    try
+    {
+        b.write("/test", ros::Time::now(), foo_);
+        FAIL();
+    }
+    catch (rosbag::BagIOException ex) {
+        SUCCEED();
+    }
+}
+
+TEST(rosbag, simple_write_and_read_works) {
+    rosbag::Bag b1("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Write);
+
+    std_msgs::String str;
+    str.data = std::string("foo");
+
+    std_msgs::Int32 i;
+    i.data = 42;
+
+    b1.write("chatter", ros::Time::now(), str);
+    b1.write("numbers", ros::Time::now(), i);
+
+    b1.close();
+
+    rosbag::Bag b2("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Read);
+
+    std::vector<std::string> topics;
+    topics.push_back(std::string("chatter"));
+    topics.push_back(std::string("numbers"));
+
+    int count = 0;
+    rosbag::View view(b2, rosbag::TopicQuery(topics));
+    foreach(rosbag::MessageInstance const m, view) {
+        std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
+        if (s != NULL)
+        {
+            count++;
+            ASSERT_EQ(s->data, std::string("foo"));
+        }
+
+        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+        if (i != NULL)
+        {
+            count++;
+            ASSERT_EQ(i->data, 42);
+        }
+    }
+
+    ASSERT_EQ(count,2);
+
+    b2.close();
+}
+
+TEST(rosbag, append_indexed_1_2_fails) {
+  try{
+    rosbag::Bag b("@PROJECT_BINARY_DIR@/test/test_indexed_1.2.bag", rosbag::bagmode::Append);
+
+    FAIL();
+  }
+  catch (rosbag::BagException ex) {
+    SUCCEED();
+  }
+}
+
+TEST(rosbag, read_indexed_1_2_succeeds) {
+    rosbag::Bag b("@PROJECT_BINARY_DIR@/test/test_indexed_1.2.bag", rosbag::bagmode::Read);
+    rosbag::View view(b);
+
+    int32_t i = 0;
+
+    foreach(rosbag::MessageInstance const m, view) {
+        std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+        if (imsg != NULL)
+            ASSERT_EQ(imsg->data, i++);
+    }
+
+    b.close();
+}
+
+
+TEST(rosbag, write_then_read_without_read_mode_fails) {
+    rosbag::Bag b("/tmp/write_then_read_without_read_mode_fails.bag", rosbag::bagmode::Write);
+    std_msgs::String str;
+    str.data = std::string("foo");
+    b.write("chatter", ros::Time::now(), str);
+
+    try
+    {
+        rosbag::View view(b);
+        foreach(rosbag::MessageInstance const m, view) {
+            std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
+            if (s != NULL)
+                ASSERT_EQ(s->data, std::string("foo"));
+        }
+        FAIL();
+    }
+    catch (rosbag::BagException ex) {
+        SUCCEED();
+    }
+}
+
+TEST_F(BagTest, read_then_write_without_write_mode_fails) {
+    rosbag::Bag b1("/tmp/read_then_write_without_write_mode_fails.bag", rosbag::bagmode::Write);
+    b1.write("chatter", ros::Time::now(), foo_);
+    b1.close();
+
+    rosbag::Bag b2("/tmp/read_then_write_without_write_mode_fails.bag", rosbag::bagmode::Read);
+    try
+    {
+        b2.write("chatter", ros::Time::now(), foo_);
+        FAIL();
+    }
+    catch (rosbag::BagException ex) {
+        SUCCEED();
+    }
+}
+
+TEST(rosbag, time_query_works) {
+    rosbag::Bag outbag;
+    outbag.open("/tmp/time_query_works.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+
+    for (int i = 0; i < 1000; i++) {
+        imsg.data = i;
+        switch (rand() % 5) {
+        case 0: outbag.write("t0", ros::Time(i, 1), imsg); break;
+        case 1: outbag.write("t1", ros::Time(i, 1), imsg); break;
+        case 2: outbag.write("t2", ros::Time(i, 1), imsg); break;
+        case 3: outbag.write("t2", ros::Time(i, 1), imsg); break;
+        case 4: outbag.write("t4", ros::Time(i, 1), imsg); break;
+        }
+    }
+    outbag.close();
+
+    rosbag::Bag bag;
+    bag.open("/tmp/time_query_works.bag", rosbag::bagmode::Read);
+
+    int i = 23;
+
+    rosbag::View view(bag, ros::Time(23, 1), ros::Time(782, 1));
+    foreach(rosbag::MessageInstance const m, view) {
+        std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+        if (imsg != NULL) {
+            ASSERT_EQ(imsg->data, i++);
+            ASSERT_TRUE(m.getTime() < ros::Time(783,0));
+        }
+    }
+
+    bag.close();
+}
+
+TEST(rosbag, topic_query_works) {
+    rosbag::Bag outbag;
+    outbag.open("/tmp/topic_query_works.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+
+    int j0 = 0;
+    int j1 = 0;
+
+    for (int i = 0; i < 10; i++) {
+        switch (rand() % 5) {
+        case 0: imsg.data = j0++; outbag.write("t0", ros::Time(i, 1), imsg); break;
+        case 1: imsg.data = j0++; outbag.write("t1", ros::Time(i, 1), imsg); break;
+        case 2: imsg.data = j1++; outbag.write("t2", ros::Time(i, 1), imsg); break;
+        case 3: imsg.data = j1++; outbag.write("t3", ros::Time(i, 1), imsg); break;
+        case 4: imsg.data = j1++; outbag.write("t4", ros::Time(i, 1), imsg); break;
+        }
+    }
+    outbag.close();
+
+    rosbag::Bag bag;
+    bag.open("/tmp/topic_query_works.bag", rosbag::bagmode::Read);
+
+    std::vector<std::string> t = boost::assign::list_of("t0")("t1");
+
+    int i = 0;
+
+    rosbag::View view(bag, rosbag::TopicQuery(t));
+    foreach(rosbag::MessageInstance const m, view) {
+        std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+        if (imsg != NULL)
+            ASSERT_EQ(imsg->data, i++);
+    }
+
+    bag.close();
+}
+
+
+TEST(rosbag, bad_topic_query_works) {
+    rosbag::Bag outbag;
+    outbag.open("/tmp/bad_topic_query_works.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+
+    for (int i = 0; i < 10; i++) {
+      outbag.write("t0", ros::Time(i, 1), imsg);
+    }
+    outbag.close();
+
+    rosbag::Bag bag;
+    bag.open("/tmp/bad_topic_query_works.bag", rosbag::bagmode::Read);
+
+    std::vector<std::string> t = boost::assign::list_of("t1");
+
+    rosbag::View view(bag, rosbag::TopicQuery(t));
+    foreach(rosbag::MessageInstance const m, view) {
+      (void)m;
+      FAIL();
+    }
+
+    bag.close();
+}
+
+//This test fails on the storm machines
+/*
+TEST(rosbag, incremental_time) {
+  ros::Time last = ros::Time::now();
+  ros::Time next = ros::Time::now();
+   for (int i = 0; i < 1000; i++) {
+     next = ros::Time::now();
+     ASSERT_TRUE(last != next);
+     last = next;
+   }
+}
+*/
+
+TEST(rosbag, multiple_bag_works) {
+    rosbag::Bag outbag1("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Write);
+    rosbag::Bag outbag2("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+    for (int i = 0; i < 1000; i++) {
+        imsg.data = i;
+        switch (rand() % 5) {
+        case 0: outbag1.write("t0", ros::Time(0,i+1), imsg); break;
+        case 1: outbag1.write("t1", ros::Time(0,i+1), imsg); break;
+        case 2: outbag1.write("t2", ros::Time(0,i+1), imsg); break;
+        case 3: outbag2.write("t0", ros::Time(0,i+1), imsg); break;
+        case 4: outbag2.write("t1", ros::Time(0,i+1), imsg); break;
+        }
+    }
+
+    outbag1.close();
+    outbag2.close();
+
+    rosbag::Bag bag1("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Read);
+    rosbag::Bag bag2("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Read);
+
+    rosbag::View view;
+    view.addQuery(bag1);
+    view.addQuery(bag2);
+
+    int i = 0;
+
+    foreach(rosbag::MessageInstance const m, view) {
+        std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+        if (imsg != NULL)
+            ASSERT_EQ(imsg->data, i++);
+    }
+
+    bag1.close();
+    bag2.close();
+}
+
+
+TEST(rosbag, overlapping_query_works) {
+    rosbag::Bag outbag1("/tmp/overlapping_query_1.bag", rosbag::bagmode::Write);
+    rosbag::Bag outbag2("/tmp/overlapping_query_2.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+    for (int i = 0; i < 1000; i++) {
+        imsg.data = i;
+        switch (rand() % 5) {
+        case 0: outbag1.write("t0", ros::Time(i+1), imsg); break;
+        case 1: outbag1.write("t1", ros::Time(i+1), imsg); break;
+        case 2: outbag1.write("t2", ros::Time(i+1), imsg); break;
+        case 3: outbag2.write("t0", ros::Time(i+1), imsg); break;
+        case 4: outbag2.write("t1", ros::Time(i+1), imsg); break;
+        }
+    }
+
+    outbag1.close();
+    outbag2.close();
+
+    rosbag::Bag bag1("/tmp/overlapping_query_1.bag", rosbag::bagmode::Read);
+    rosbag::Bag bag2("/tmp/overlapping_query_2.bag", rosbag::bagmode::Read);
+
+    rosbag::View view1(false);
+    view1.addQuery(bag1, ros::Time(1), ros::Time(750));
+    view1.addQuery(bag1, ros::Time(251), ros::Time(1002));
+    view1.addQuery(bag2, ros::Time(1), ros::Time(750));
+    view1.addQuery(bag2, ros::Time(251), ros::Time(1002));
+
+    rosbag::View view2(true);
+    view2.addQuery(bag1, ros::Time(1), ros::Time(750));
+    view2.addQuery(bag1, ros::Time(251), ros::Time(1002));
+    view2.addQuery(bag2, ros::Time(1), ros::Time(750));
+    view2.addQuery(bag2, ros::Time(251), ros::Time(1002));
+
+
+    int i = 0;
+    int j = 0;
+
+    foreach(rosbag::MessageInstance const m, view1) {
+      std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+      if (imsg != NULL)
+        ASSERT_EQ(imsg->data, i);
+      if (i >= 250 && i < 750)
+      {
+        i += (j++ % 2);
+      } else {
+        i++;
+      }
+    }
+
+    i = 0;
+
+    foreach(rosbag::MessageInstance const m, view2) {
+        std_msgs::Int32::ConstPtr imsg = m.instantiate<std_msgs::Int32>();
+        if (imsg != NULL)
+            ASSERT_EQ(imsg->data, i++);
+    }
+
+    bag1.close();
+    bag2.close();
+}
+
+
+TEST(rosbag, no_min_time) {
+    rosbag::Bag outbag("/tmp/no_min_time.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+    try
+    {
+      outbag.write("t0", ros::Time(0,0), imsg);
+      FAIL();
+    } catch (rosbag::BagException& e)
+    {
+      SUCCEED();
+    }
+
+    outbag.close();
+}
+
+TEST(rosbag, modify_view_works) {
+    rosbag::Bag outbag;
+    outbag.open("/tmp/modify_view_works.bag", rosbag::bagmode::Write);
+
+    std_msgs::Int32 imsg;
+
+    int j0 = 0;
+    int j1 = 1;
+
+    // Create a bag with 2 interlaced topics
+    for (int i = 0; i < 100; i++) {
+        imsg.data = j0;
+        j0 += 2;
+        outbag.write("t0", ros::Time(2 * i + 1, 0), imsg);
+
+        imsg.data = j1;
+        j1 += 2;
+        outbag.write("t1", ros::Time(2 * i + 2, 0), imsg);
+    }
+    outbag.close();
+
+    rosbag::Bag bag;
+    bag.open("/tmp/modify_view_works.bag", rosbag::bagmode::Read);
+
+    std::vector<std::string> t0 = boost::assign::list_of("t0");
+    std::vector<std::string> t1 = boost::assign::list_of("t1");
+
+    // We're going to skip the t1 for the first half
+    j0 = 0;
+    j1 = 101;
+
+    rosbag::View view(bag, rosbag::TopicQuery(t0));
+
+    rosbag::View::iterator iter = view.begin();
+
+    for (int i = 0; i < 50; i++) {
+        std_msgs::Int32::ConstPtr imsg = iter->instantiate<std_msgs::Int32>();
+        if (imsg != NULL) {
+            ASSERT_EQ(imsg->data, j0);
+            j0 += 2;
+        }
+        iter++;
+    }
+
+    // We now add our query, and expect it to show up
+    view.addQuery(bag, rosbag::TopicQuery(t1));
+
+    for (int i = 0; i < 50; i++) {
+        std_msgs::Int32::ConstPtr imsg = iter->instantiate<std_msgs::Int32>();
+        if (imsg != NULL) {
+            ASSERT_EQ(imsg->data, j0);
+            j0 += 2;
+        }
+        iter++;
+
+        imsg = iter->instantiate<std_msgs::Int32>();
+        if (imsg != NULL) {
+            ASSERT_EQ(imsg->data, j1);
+            j1 += 2;
+        }
+        iter++;
+    }
+
+    bag.close();
+}
+
+TEST(rosbag, modify_bag_works) {
+    rosbag::Bag rwbag("/tmp/modify_bag_works.bag", rosbag::bagmode::Write | rosbag::bagmode::Read);
+    rwbag.setChunkThreshold(1);
+
+    std::vector<std::string> t0 = boost::assign::list_of("t0");
+
+    rosbag::View view(rwbag, rosbag::TopicQuery(t0));
+
+    std_msgs::Int32 omsg;
+
+    // Put a message at time 5
+    omsg.data = 5;
+    rwbag.write("t0", ros::Time(5 + 1, 0), omsg);
+    
+    // Verify begin gets us to 5
+    rosbag::View::iterator iter1 = view.begin();
+    std_msgs::Int32::ConstPtr imsg = iter1->instantiate<std_msgs::Int32>();
+    ASSERT_EQ(imsg->data, 5);
+
+    for (int i = 0; i < 5; i++) {
+        omsg.data = i;
+        rwbag.write("t0", ros::Time(i + 1, 0), omsg);
+    }
+
+    // New iterator should be at 0
+    rosbag::View::iterator iter2 = view.begin();
+    imsg = iter2->instantiate<std_msgs::Int32>();
+    ASSERT_EQ(imsg->data, 0);
+
+    // Increment it once
+    iter2++;
+    
+    // Output additional messages after time 5
+    for (int i = 6; i < 10; i++) {
+        omsg.data = i;
+        rwbag.write("t0", ros::Time(i + 1, 0), omsg);
+    }
+
+    // Iter2 should contain 1->10
+    for (int i = 1; i < 10; i++) {
+        imsg = iter2->instantiate<std_msgs::Int32>();
+        ASSERT_EQ(imsg->data, i);
+        iter2++;
+    }
+
+    // Iter1 should contain 5->10
+    for (int i = 5; i < 10; i++) {
+        imsg = iter1->instantiate<std_msgs::Int32>();
+        ASSERT_EQ(imsg->data, i);
+        iter1++;
+    }
+    
+    rwbag.close();
+
+    rosbag::Bag rwbag2("/tmp/modify_bag_works.bag", rosbag::bagmode::Read);
+
+    rosbag::View view2(rwbag2, rosbag::TopicQuery(t0));
+
+    rosbag::View::iterator iter3 = view2.begin();
+    imsg = iter3->instantiate<std_msgs::Int32>();
+    // Iter2 should contain 1->10
+    for (int i = 0; i < 10; i++) {
+        imsg = iter3->instantiate<std_msgs::Int32>();
+        ASSERT_EQ(imsg->data, i);
+        iter3++;
+    }
+}
+
+int main(int argc, char **argv) {
+    ros::init(argc, argv, "test_bag");
+    ros::Time::init();
+
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

thirdparty/ros/ros_comm/test/test_rosbag/test/test_bag.py

@@ -0,0 +1,438 @@
+#!/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.
+#
+# test_bag.py
+
+import hashlib
+import heapq
+import os
+import shutil
+import sys
+import tempfile
+import time
+import unittest
+
+import genpy
+
+import rosbag
+from rosbag import bag
+import rospy
+from std_msgs.msg import Int32
+from std_msgs.msg import ColorRGBA
+from std_msgs.msg import String
+
+class TestRosbag(unittest.TestCase):
+    def setUp(self):
+        pass
+    
+    def test_opening_stream_works(self):
+        f = open('/tmp/test_opening_stream_works.bag', 'wb')
+        with rosbag.Bag(f, 'w') as b:
+            for i in range(10):
+                msg = Int32()
+                msg.data = i
+                b.write('/int', msg)
+        
+        f = open('/tmp/test_opening_stream_works.bag', 'rb')
+        b = rosbag.Bag(f, 'r')
+        self.assert_(len(list(b.read_messages())) == 10)
+        b.close()
+
+    def test_invalid_bag_arguments_fails(self):
+        f = '/tmp/test_invalid_bad_arguments_fails.bag'
+        
+        def fn1(): rosbag.Bag('')
+        def fn2(): rosbag.Bag(None)
+        def fn3(): rosbag.Bag(f, 'z')        
+        def fn4(): rosbag.Bag(f, 'r', compression='foobar')
+        def fn5(): rosbag.Bag(f, 'r', chunk_threshold=-1000)
+        for fn in [fn1, fn2, fn3, fn4, fn5]:
+            self.failUnlessRaises(ValueError, fn)
+
+    def test_io_on_close_fails(self):
+        def fn():
+            b = rosbag.Bag('/tmp/test_io_close_fails.bag', 'w')
+            b.close()
+            size = b.size()
+        self.failUnlessRaises(ValueError, fn)
+        
+    def test_write_invalid_message_fails(self):
+        def fn():
+            with rosbag.Bag('/tmp/test_write_invalid_message_fails.bag', 'w') as b:
+                b.write(None, None, None)
+        self.failUnlessRaises(ValueError, fn)
+
+    def test_simple_write_uncompressed_works(self):
+        with rosbag.Bag('/tmp/test_simple_write_uncompressed_works.bag', 'w') as b:
+            msg_count = 0
+            for i in range(5, 0, -1):
+                msg = Int32()
+                msg.data = i
+                t = genpy.Time.from_sec(i)
+                b.write('/ints' + str(i), msg, t)
+                msg_count += 1
+
+        msgs = list(rosbag.Bag('/tmp/test_simple_write_uncompressed_works.bag').read_messages())
+        
+        self.assert_(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
+
+        for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
+            self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
+
+    def test_writing_nonchronological_works(self):
+        with rosbag.Bag('/tmp/test_writing_nonchronological_works.bag', 'w') as b:
+            msg_count = 0
+            for i in range(5, 0, -1):
+                msg = Int32()
+                msg.data = i
+                t = genpy.Time.from_sec(i)
+                b.write('/ints', msg, t)
+                msg_count += 1
+
+        msgs = list(rosbag.Bag('/tmp/test_writing_nonchronological_works.bag').read_messages())
+        
+        self.assert_(len(msgs) == msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
+
+        for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
+            self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
+
+    def test_large_write_works(self):
+        for compression in [rosbag.Compression.NONE, rosbag.Compression.BZ2]:
+            with rosbag.Bag('/tmp/test_large_write_works.bag', 'w', compression=compression) as b:
+                msg_count = 0
+                for i in range(10000):
+                    msg = Int32()
+                    msg.data = i
+                    t = genpy.Time.from_sec(i)
+                    b.write('/ints', msg, t)
+                    msg_count += 1
+
+            msgs = list(rosbag.Bag('/tmp/test_large_write_works.bag').read_messages())
+
+            self.assertEquals(len(msgs), msg_count, 'not all messages written: expected %d, got %d' % (msg_count, len(msgs)))
+
+            for (_, _, t1), (_, _, t2) in zip(msgs, msgs[1:]):
+                self.assert_(t1 < t2, 'messages returned unordered: got timestamp %s before %s' % (str(t1), str(t2)))
+
+    def test_get_messages_time_range_works(self):
+        with rosbag.Bag('/tmp/test_get_messages_time_range_works.bag', 'w') as b:
+            for i in range(30):
+                msg = Int32()
+                msg.data = i
+                t = genpy.Time.from_sec(i)
+                b.write('/ints', msg, t)
+        
+        start_time = genpy.Time.from_sec(3)
+        end_time = genpy.Time.from_sec(7)
+        msgs = list(rosbag.Bag('/tmp/test_get_messages_time_range_works.bag').read_messages(topics='/ints', start_time=start_time, end_time=end_time))
+
+        self.assertEquals(len(msgs), 5)
+        
+    def test_get_messages_filter_works(self):
+        with rosbag.Bag('/tmp/test_get_messages_filter_works.bag', 'w') as b:
+            for i in range(30):
+                msg = Int32()
+                msg.data = i
+                t = genpy.Time.from_sec(i)
+                b.write('/ints' + str(i), msg, t)
+
+        def filter(topic, datatype, md5sum, msg_def, header):
+            return '5' in topic and datatype == Int32._type and md5sum == Int32._md5sum and msg_def == Int32._full_text
+
+        self.assertEquals(len(list(rosbag.Bag('/tmp/test_get_messages_filter_works.bag').read_messages(connection_filter=filter))), 3)
+
+    def test_rosbag_filter(self):
+        inbag_filename  = '/tmp/test_rosbag_filter__1.bag'
+        outbag_filename = '/tmp/test_rosbag_filter__2.bag'
+        
+        with rosbag.Bag(inbag_filename, 'w') as b:
+            for i in range(30):
+                msg = Int32()
+                msg.data = i
+                t = genpy.Time.from_sec(i)
+                b.write('/ints' + str(i), msg, t)
+
+        expression = "(int(t.secs) == m.data) and (topic == '/ints' + str(m.data)) and (m.data >= 15 and m.data < 20)"
+
+        os.system('rosbag filter %s %s "%s"' % (inbag_filename, outbag_filename, expression))
+
+        msgs = list(rosbag.Bag(outbag_filename).read_messages())
+
+        self.assertEquals(len(msgs), 5)
+
+    # Regression test for issue #736
+    def test_trivial_rosbag_filter(self):
+        tempdir = tempfile.mkdtemp()
+        try: 
+            inbag_filename = os.path.join(tempdir, 'test_rosbag_filter__1.bag') 
+            outbag1_filename = os.path.join(tempdir, 'test_rosbag_filter__2.bag') 
+            outbag2_filename = os.path.join(tempdir, 'test_rosbag_filter__3.bag') 
+
+            with rosbag.Bag(inbag_filename, 'w') as b:
+                for i in range(30):
+                    msg = ColorRGBA()
+                    t = genpy.Time.from_sec(i)
+                    b.write('/ints' + str(i), msg, t)
+
+            # filtering multiple times should not affect the filtered rosbag
+            cmd = 'rosbag filter %s %s "True"'
+            os.system(cmd % (inbag_filename, outbag1_filename))
+            os.system(cmd % (outbag1_filename, outbag2_filename))
+            
+            with open(outbag1_filename, 'r') as h:
+                outbag1_md5 = hashlib.md5(h.read()).hexdigest()
+            with open(outbag2_filename, 'r') as h:
+                outbag2_md5 = hashlib.md5(h.read()).hexdigest()
+            self.assertEquals(outbag1_md5, outbag2_md5)
+        finally:
+            shutil.rmtree(tempdir)
+
+    def test_reindex_works(self):
+        fn = '/tmp/test_reindex_works.bag'
+        
+        chunk_threshold = 1024
+
+        with rosbag.Bag(fn, 'w', chunk_threshold=chunk_threshold) as b:
+            for i in range(100):
+                for j in range(5):
+                    msg = Int32()
+                    msg.data = i
+                    b.write('/topic%d' % j, msg)
+            file_header_pos = b._file_header_pos
+
+        start_index = 4117 + chunk_threshold * 2 + int(chunk_threshold / 2)
+
+        trunc_filename   = '%s.trunc%s'   % os.path.splitext(fn)
+        reindex_filename = '%s.reindex%s' % os.path.splitext(fn)
+
+        for trunc_index in range(start_index, start_index + chunk_threshold):
+            shutil.copy(fn, trunc_filename)
+            
+            with open(trunc_filename, 'r+b') as f:
+                f.seek(file_header_pos)
+                header = {
+                    'op':          bag._pack_uint8(bag._OP_FILE_HEADER),
+                    'index_pos':   bag._pack_uint64(0),
+                    'conn_count':  bag._pack_uint32(0),
+                    'chunk_count': bag._pack_uint32(0)
+                }
+                bag._write_record(f, header, padded_size=bag._FILE_HEADER_LENGTH)
+                f.truncate(trunc_index)
+
+            shutil.copy(trunc_filename, reindex_filename)
+       
+            try:
+                b = rosbag.Bag(reindex_filename, 'a', allow_unindexed=True)
+            except Exception as ex:
+                pass
+            for done in b.reindex():
+                pass
+            b.close()
+
+            msgs = list(rosbag.Bag(reindex_filename, 'r'))
+
+    def test_future_version_works(self):
+        fn = '/tmp/test_future_version_2.1.bag'
+
+        with rosbag.Bag(fn, 'w', chunk_threshold=256) as b:
+            for i in range(10):
+                msg = Int32()
+                msg.data = i
+                b.write('/int', msg)
+
+                header = { 'op': bag._pack_uint8(max(bag._OP_CODES.keys()) + 1) }
+                data = 'ABCDEFGHI123456789'
+                bag._write_record(b._file, header, data)
+
+            b._file.seek(0)
+            data = '#ROSBAG V%d.%d\n' % (int(b._version / 100), (b._version % 100) + 1)  # increment the minor version
+            data = data.encode()
+            b._file.write(data)
+            b._file.seek(0, os.SEEK_END)
+
+        with rosbag.Bag(fn) as b:
+            for topic, msg, t in b:
+                pass
+            
+    def test_get_message_count(self):
+        fn = '/tmp/test_get_message_count.bag'
+        with rosbag.Bag(fn, mode='w') as bag:
+            for i in range(100):
+                bag.write("/test_bag", Int32(data=i))
+                bag.write("/test_bag", String(data='also'))
+                bag.write("/test_bag/more", String(data='alone'))
+                
+        with rosbag.Bag(fn) as bag:
+            self.assertEquals(bag.get_message_count(), 300)
+            self.assertEquals(bag.get_message_count(topic_filters='/test_bag'), 200)
+            self.assertEquals(bag.get_message_count(topic_filters=['/test_bag', '/test_bag/more']), 300)
+            self.assertEquals(bag.get_message_count(topic_filters=['/none']), 0)
+        
+    def test_get_compression_info(self):
+        fn = '/tmp/test_get_compression_info.bag'
+        
+        # No Compression
+        with rosbag.Bag(fn, mode='w') as bag:
+            for i in range(100):
+                bag.write("/test_bag", Int32(data=i))
+                
+        with rosbag.Bag(fn) as bag:
+            info = bag.get_compression_info()
+            self.assertEquals(info.compression, rosbag.Compression.NONE)
+            # 167 Bytes of overhead, 50 Bytes per Int32.
+            self.assertEquals(info.uncompressed, 5166)
+            self.assertEquals(info.compressed, 5166)
+        
+        with rosbag.Bag(fn, mode='w', compression=rosbag.Compression.BZ2) as bag:
+            for i in range(100):
+                bag.write("/test_bag", Int32(data=i))
+                
+        with rosbag.Bag(fn) as bag:
+            info = bag.get_compression_info()
+            self.assertEquals(info.compression, rosbag.Compression.BZ2)
+            self.assertEquals(info.uncompressed, 5166)
+            
+            # the value varies each run, I suspect based on rand, but seems
+            # to generally be around 960 to 980 on my comp
+            self.assertLess(info.compressed, 1050)
+            self.assertGreater(info.compressed, 850)
+        
+    def test_get_time(self):
+        fn = '/tmp/test_get_time.bag'
+        
+        with rosbag.Bag(fn, mode='w') as bag:
+            for i in range(100):
+                bag.write("/test_bag", Int32(data=i), t=genpy.Time.from_sec(i))
+                
+        with rosbag.Bag(fn) as bag:
+            start_stamp = bag.get_start_time()
+            end_stamp = bag.get_end_time()
+            
+            self.assertEquals(start_stamp, 0.0)
+            self.assertEquals(end_stamp, 99.0)
+
+    def test_get_time_empty_bag(self):
+        """Test for issue #657"""
+        fn = '/tmp/test_get_time_emtpy_bag.bag'
+
+        with rosbag.Bag(fn, mode='w') as bag:
+            self.assertRaisesRegexp(rosbag.ROSBagException,
+                                    'Bag contains no message',
+                                    bag.get_start_time)
+            self.assertRaisesRegexp(rosbag.ROSBagException,
+                                    'Bag contains no message',
+                                    bag.get_end_time)
+
+    def test_get_type_and_topic_info(self):
+        fn = '/tmp/test_get_type_and_topic_info.bag'
+        topic_1 = "/test_bag"
+        topic_2 = "/test_bag/more"
+        with rosbag.Bag(fn, mode='w') as bag:
+            for i in range(100):
+                bag.write(topic_1, Int32(data=i))
+                bag.write(topic_1, String(data='also'))
+                bag.write(topic_2, String(data='alone'))
+                
+        with rosbag.Bag(fn) as bag:
+            msg_types, topics = bag.get_type_and_topic_info()
+            self.assertEquals(len(msg_types), 2)
+            self.assertTrue("std_msgs/Int32" in msg_types)
+            self.assertTrue("std_msgs/String" in msg_types)
+            self.assertEquals(len(topics), 2)
+            self.assertTrue(topic_1 in topics)
+            self.assertTrue(topic_2 in topics)
+            
+            self.assertEquals(topics[topic_1].message_count, 200)
+            self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
+            self.assertEquals(topics[topic_2].message_count, 100)
+            self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
+            
+            #filter on topic 1
+            msg_types, topics = bag.get_type_and_topic_info(topic_1)
+            
+            # msg_types should be unaffected by the filter
+            self.assertEquals(len(msg_types), 2)
+            self.assertTrue("std_msgs/Int32" in msg_types)
+            self.assertTrue("std_msgs/String" in msg_types)            
+            
+            self.assertEquals(len(topics), 1)
+            self.assertTrue(topic_1 in topics)
+            
+            self.assertEquals(topics[topic_1].message_count, 200)
+            self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
+            
+            #filter on topic 2
+            msg_types, topics = bag.get_type_and_topic_info(topic_2)
+            
+            # msg_types should be unaffected by the filter
+            self.assertEquals(len(msg_types), 2)
+            self.assertTrue("std_msgs/Int32" in msg_types)
+            self.assertTrue("std_msgs/String" in msg_types)            
+            
+            self.assertEquals(len(topics), 1)
+            self.assertTrue(topic_2 in topics)
+            
+            self.assertEquals(topics[topic_2].message_count, 100)
+            self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
+            
+            #filter on missing topic
+            msg_types, topics = bag.get_type_and_topic_info("/none")
+            
+            # msg_types should be unaffected by the filter
+            self.assertEquals(len(msg_types), 2)
+            self.assertTrue("std_msgs/Int32" in msg_types)
+            self.assertTrue("std_msgs/String" in msg_types)            
+            
+            # topics should be empty
+            self.assertEquals(len(topics), 0)
+        
+    def _print_bag_records(self, fn):
+        with open(fn) as f:
+            f.seek(0, os.SEEK_END)
+            size = f.tell()
+            f.seek(0)
+
+            version_line = f.readline().rstrip()
+            print(version_line)
+
+            while f.tell() < size:
+                header = bag._read_header(f)
+                op = bag._read_uint8_field(header, 'op')
+                data = bag._read_record_data(f)
+
+                print(bag._OP_CODES.get(op, op))
+
+if __name__ == '__main__':
+    import rostest
+    PKG='rosbag'
+    rostest.run(PKG, 'TestRosbag', TestRosbag, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag/test/topic_count.py

@@ -0,0 +1,66 @@
+#!/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 roslib
+roslib.load_manifest('rosbag')
+
+import unittest
+import rostest
+import sys
+import time
+import subprocess
+
+class TopicCount(unittest.TestCase):
+
+  def test_topic_count(self):
+    # Wait while the recorder creates a bag for us to examine
+    time.sleep(10.0)
+
+    # Check the topic count returned by `rosbag info`
+    # We could probably do this through the rosbag Python API...
+    cmd = ['rosbag', 'info', 
+           '/tmp/test_rosbag_record_one_publisher_two_topics.bag',
+           '-y', '-k', 'topics']
+    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+    out,err = p.communicate()
+    topic_count = 0
+    for l in out.decode().split('\n'):
+        f = l.strip().split(': ')
+        if len(f) == 2 and f[0] == '- topic':
+            topic_count += 1
+
+    self.assertEqual(topic_count, 2)
+
+if __name__ == '__main__':
+  rostest.unitrun('test_rosbag', 'topic_count', TopicCount, sys.argv)

thirdparty/ros/ros_comm/test/test_rosbag_storage/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_rosbag_storage)
+
+find_package(catkin REQUIRED COMPONENTS rosbag_storage std_msgs)
+
+find_package(Boost REQUIRED)
+
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+  catkin_add_gtest(create_and_iterate_bag src/create_and_iterate_bag.cpp)
+  if(TARGET create_and_iterate_bag)
+    target_link_libraries(create_and_iterate_bag ${catkin_LIBRARIES})
+  endif()
+  catkin_add_gtest(swap_bags src/swap_bags.cpp)
+  if(TARGET swap_bags)
+    target_link_libraries(swap_bags ${catkin_LIBRARIES})
+  endif()
+endif()

thirdparty/ros/ros_comm/test/test_rosbag_storage/package.xml

@@ -0,0 +1,17 @@
+<package>
+  <name>test_rosbag_storage</name>
+  <version>1.12.14</version>
+  <description>
+    A package containing the unit tests for rosbag_storage.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rosbag_storage</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>rosbag_storage</run_depend>
+  <run_depend>std_msgs</run_depend>
+</package>

thirdparty/ros/ros_comm/test/test_rosbag_storage/src/create_and_iterate_bag.cpp

@@ -0,0 +1,114 @@
+#include "ros/time.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "std_msgs/Int32.h"
+#include "std_msgs/String.h"
+
+#include <string>
+#include <vector>
+
+#include "boost/foreach.hpp"
+#include <gtest/gtest.h>
+
+void create_test_bag(const std::string &filename)
+{
+  rosbag::Bag bag;
+  bag.open(filename, rosbag::bagmode::Write);
+
+  std_msgs::String str;
+  str.data = std::string("foo");
+
+  std_msgs::Int32 i;
+  i.data = 42;
+
+  bag.write("chatter", ros::Time::now(), str);
+  bag.write("numbers", ros::Time::now(), i);
+
+  bag.close();
+}
+
+const char* bag_filename = "/tmp/rosbag_storage_create_and_iterate_bag.bag";
+
+TEST(rosbag_storage, iterator_copy_constructor)
+{
+  // copy ctor
+  rosbag::Bag bag;
+  bag.open(bag_filename, rosbag::bagmode::Read);
+  rosbag::View view(bag, rosbag::TopicQuery("numbers"));
+  rosbag::View::const_iterator it0 = view.begin();
+  EXPECT_EQ(42, it0->instantiate<std_msgs::Int32>()->data);
+  rosbag::View::const_iterator it1(it0);
+  EXPECT_EQ(it0, it1);
+  EXPECT_EQ(42, it1->instantiate<std_msgs::Int32>()->data);
+  ++it1;
+  EXPECT_NE(it0, it1);
+  EXPECT_EQ(42, it0->instantiate<std_msgs::Int32>()->data);
+}
+
+TEST(rosbag_storage, iterator_copy_assignment)
+{
+  // copy assignment
+  rosbag::Bag bag;
+  bag.open(bag_filename, rosbag::bagmode::Read);
+  rosbag::View view(bag, rosbag::TopicQuery("numbers"));
+  rosbag::View::const_iterator it0 = view.begin();
+  EXPECT_EQ(42, it0->instantiate<std_msgs::Int32>()->data);
+  rosbag::View::const_iterator it1;
+  it1 = it0;
+  EXPECT_EQ(it0, it1);
+  EXPECT_EQ(42, it1->instantiate<std_msgs::Int32>()->data);
+  ++it1;
+  EXPECT_NE(it0, it1);
+  EXPECT_EQ(42, it0->instantiate<std_msgs::Int32>()->data);
+}
+
+TEST(rosbag_storage, iterate_bag)
+{
+  rosbag::Bag bag;
+  bag.open(bag_filename, rosbag::bagmode::Read);
+
+  std::vector<std::string> topics;
+  topics.push_back(std::string("chatter"));
+  topics.push_back(std::string("numbers"));
+
+  rosbag::View view(bag, rosbag::TopicQuery(topics));
+
+  BOOST_FOREACH(rosbag::MessageInstance const m, view)
+  {
+    std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
+    if (s != NULL)
+    {
+      if(s->data == std::string("foo")) {
+        printf("Successfully checked string foo\n");
+      }
+      else
+      {
+        printf("Failed checked string foo\n");
+        FAIL();
+      }
+    }
+
+    std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+    if (i != NULL)
+    {
+      if (i->data == 42) {
+        printf("Successfully checked value 42\n");
+      }
+      else
+      {
+        printf("Failed checked value 42.\n");
+        FAIL();
+      }
+    }
+  }
+
+  bag.close();
+}
+
+int main(int argc, char **argv) {
+    ros::Time::init();
+    create_test_bag(bag_filename);
+
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

thirdparty/ros/ros_comm/test/test_rosbag_storage/src/swap_bags.cpp

@@ -0,0 +1,101 @@
+#include "ros/time.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "std_msgs/Int32.h"
+
+#include "boost/foreach.hpp"
+#include <gtest/gtest.h>
+
+void writeBags(rosbag::CompressionType a, rosbag::CompressionType b) {
+    using std::swap;
+    rosbag::Bag bag1("/tmp/swap1.bag", rosbag::bagmode::Write);
+    rosbag::Bag bag2("/tmp/swap2.bag", rosbag::bagmode::Write);
+
+    // In the end "/tmp/swap1.bag" should have CompressionType a and contain two messages of value a.
+    // "/tmp/swap2.bag" should have CompressionType b and contain two messages of value b.
+    // We use these pointers to track the bags accordingly.
+
+    rosbag::Bag* a_bag = &bag1;
+    rosbag::Bag* b_bag = &bag2;
+
+    std_msgs::Int32 a_msg, b_msg;
+    a_msg.data = a;
+    b_msg.data = b;
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->setCompression(a);
+    b_bag->setCompression(b);
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->write("/data", ros::Time::now(), a_msg);
+    b_bag->write("/data", ros::Time::now(), b_msg);
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->write("/data", ros::Time::now(), a_msg);
+    b_bag->write("/data", ros::Time::now(), b_msg);
+
+    swap(bag1, bag2);
+
+    bag1.close();
+    bag2.close();
+
+    swap(bag1, bag2);
+}
+
+void readBags(rosbag::CompressionType a, rosbag::CompressionType b) {
+    using std::swap;
+    rosbag::Bag bag1("/tmp/swap1.bag", rosbag::bagmode::Read);
+    rosbag::Bag bag2("/tmp/swap2.bag", rosbag::bagmode::Read);
+
+    rosbag::Bag* a_bag = &bag1;
+    rosbag::Bag* b_bag = &bag2;
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    // only valid when writing
+    //EXPECT_EQ(a_bag->getCompression(), a);
+    //EXPECT_EQ(b_bag->getCompression(), b);
+
+    std::vector<std::string> topics;
+    topics.push_back("data");
+
+    rosbag::View a_view(*a_bag, rosbag::TopicQuery(topics));
+    rosbag::View b_view(*b_bag, rosbag::TopicQuery(topics));
+
+    BOOST_FOREACH(rosbag::MessageInstance const m, a_view)
+    {
+        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+        ASSERT_TRUE(i);
+        EXPECT_EQ(i->data, a);
+    }
+    BOOST_FOREACH(rosbag::MessageInstance const m, b_view)
+    {
+        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+        ASSERT_TRUE(i);
+        EXPECT_EQ(i->data, b);
+    }
+}
+
+TEST(rosbag_storage, swap_bags)
+{
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            writeBags(rosbag::CompressionType(i), rosbag::CompressionType(j));
+            readBags(rosbag::CompressionType(i), rosbag::CompressionType(j));
+        }
+    }
+}
+
+int main(int argc, char **argv) {
+    ros::Time::init();
+
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

thirdparty/ros/ros_comm/test/test_roscpp/CMakeLists.txt

@@ -0,0 +1,95 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_roscpp)
+
+if(NOT WIN32)
+  set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Wextra")
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation roscpp rostest rosunit std_srvs
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(Boost REQUIRED COMPONENTS signals filesystem system)
+
+  include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+  # Testing message and service files.  See comment below about subdirectory support.
+  add_message_files(
+    NOINSTALL
+    DIRECTORY test/msg
+    FILES
+    TestArray.msg
+    TestEmpty.msg
+    TestStringInt.msg
+    TestWithHeader.msg
+  )
+  add_service_files(
+    NOINSTALL
+    DIRECTORY test/srv
+    FILES
+    BadTestStringString.srv
+    TestStringString.srv
+  )
+
+  # Serialization testing message files.
+  add_message_files(
+    NOINSTALL
+    DIRECTORY test_serialization/msg
+    FILES
+    ArrayOfFixedLength.msg
+    ArrayOfVariableLength.msg
+    Constants.msg
+    CustomHeader.msg
+    EmbeddedExternal.msg
+    EmbeddedFixedLength.msg
+    EmbeddedVariableLength.msg
+    FixedLengthArrayOfExternal.msg
+    FixedLength.msg
+    FixedLengthStringArray.msg
+    HeaderNotFirstMember.msg
+    VariableLengthArrayOfExternal.msg
+    VariableLength.msg
+    VariableLengthStringArray.msg
+    WithDuration.msg
+    WithHeader.msg
+    WithMemberNamedHeaderThatIsNotAHeader.msg
+    WithTime.msg
+  )
+
+  # Performance testing message files.  add_message_files() does not
+  # currently support being called from a subdirectory, so this is here
+  # for now.
+  add_message_files(
+    NOINSTALL
+    DIRECTORY perf/msg
+    FILES
+    LatencyMessage.msg
+    ThroughputMessage.msg
+  )
+
+  # Message files for testing the performance of serialization.
+  add_message_files(
+    NOINSTALL
+    DIRECTORY perf_serialization/msg
+    FILES
+    ChannelFloat32.msg
+    Point32.msg
+    PointCloud.msg
+  )
+
+  # dependencies std_msgs and rosgraph_msgs are needed by tests, but not by roscpp otherwise.
+  generate_messages(DEPENDENCIES rosgraph_msgs std_msgs)
+endif()
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime rosconsole rosgraph_msgs std_msgs xmlrpcpp
+)
+
+if(CATKIN_ENABLE_TESTING)
+  add_subdirectory(test)
+  add_subdirectory(perf)
+  add_subdirectory(test_serialization)
+  add_subdirectory(perf_serialization)
+endif()

thirdparty/ros/ros_comm/test/test_roscpp/package.xml

@@ -0,0 +1,40 @@
+<package>
+  <name>test_roscpp</name>
+  <version>1.12.14</version>
+  <description>
+    Tests for roscpp which depend on rostest.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/roscpp</url>
+  <author>Morgan Quigley</author>
+  <author>Josh Faust</author>
+  <author>Brian Gerkey</author>
+  <author>Troy Straszheim</author>
+
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>cpp_common</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>pkg-config</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>roscpp_serialization</build_depend>
+  <build_depend>roscpp_traits</build_depend>
+  <build_depend>rosgraph_msgs</build_depend>
+  <build_depend>roslang</build_depend>
+  <build_depend>rostest</build_depend>
+  <build_depend>rostime</build_depend>
+  <build_depend>rosunit</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>xmlrpcpp</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rosconsole</run_depend>
+  <run_depend>rosgraph_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>xmlrpcpp</run_depend>
+</package>

thirdparty/ros/ros_comm/test/test_roscpp/perf/CMakeLists.txt

@@ -0,0 +1,23 @@
+find_package(Boost REQUIRED COMPONENTS thread)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+# Can't call add_message_files() here because CMake context is lost when we leave this subdir.
+# add_message_files(
+#   DIRECTORY msg
+#   FILES
+#   LatencyMessage.msg
+#   ThroughputMessage.msg
+# )
+# Can't call generate_messages() here, because currently can only have one instance of it per project.
+# This means this file must be included before generate_messages() in the parent.
+
+#common commands for building c++ executables and libraries
+add_library(${PROJECT_NAME}_perf EXCLUDE_FROM_ALL src/intra.cpp src/inter.cpp)
+add_dependencies(${PROJECT_NAME}_perf ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_perf ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+
+# These performance tests will not be built or executed automatically.
+# TODO: automate them in some useful way.
+add_executable(${PROJECT_NAME}-intra_suite EXCLUDE_FROM_ALL src/intra_suite.cpp)
+target_link_libraries(${PROJECT_NAME}-intra_suite ${PROJECT_NAME}_perf ${catkin_LIBRARIES})

thirdparty/ros/ros_comm/test/test_roscpp/perf/include/perf_roscpp/inter.h

@@ -0,0 +1 @@
+

thirdparty/ros/ros_comm/test/test_roscpp/perf/include/perf_roscpp/intra.h

@@ -0,0 +1,102 @@
+/*
+ * 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.
+ */
+
+#ifndef PERF_ROSCPP_INTRA_H
+#define PERF_ROSCPP_INTRA_H
+
+#include <ros/types.h>
+#include <ros/time.h>
+
+namespace perf_roscpp
+{
+namespace intra
+{
+
+struct ThroughputResult
+{
+  double test_duration;
+  uint64_t streams;
+  uint64_t message_size;
+  uint32_t sender_threads;
+  uint32_t receiver_threads;
+
+  uint64_t messages_sent;
+  uint64_t messages_received;
+
+  uint64_t total_bytes_sent;
+  uint64_t total_bytes_received;
+  uint64_t bytes_per_second;
+
+  ros::WallTime test_start;
+  ros::WallTime test_end;
+};
+
+ThroughputResult throughput(double duration, uint32_t streams, uint32_t message_size, uint32_t sender_threads, uint32_t receiver_threads);
+
+struct LatencyResult
+{
+  uint64_t count_per_stream;
+  uint64_t streams;
+  uint64_t message_size;
+  uint32_t sender_threads;
+  uint32_t receiver_threads;
+
+  uint64_t total_message_count;
+
+  double latency_avg;
+  double latency_min;
+  double latency_max;
+
+  ros::WallTime test_start;
+  ros::WallTime test_end;
+};
+LatencyResult latency(uint32_t count_per_stream, uint32_t streams, uint32_t message_size, uint32_t sender_threads, uint32_t receiver_threads);
+
+struct STLatencyResult
+{
+  uint64_t total_message_count;
+
+  double latency_avg;
+  double latency_min;
+  double latency_max;
+
+  ros::WallTime test_start;
+  ros::WallTime test_end;
+};
+STLatencyResult stlatency(uint32_t message_count);
+
+} // namespace intra
+} // namespace perf_roscpp
+
+#endif // PERF_ROSCPP_INTRA_H

thirdparty/ros/ros_comm/test/test_roscpp/perf/msg/LatencyMessage.msg

@@ -0,0 +1,6 @@
+float64 publish_time
+float64 receipt_time
+uint64 count
+uint32 thread_index
+uint8[] array
+

thirdparty/ros/ros_comm/test/test_roscpp/perf/msg/ThroughputMessage.msg

@@ -0,0 +1,2 @@
+uint8[] array
+