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API review

Proposer: Jeremy Leibs

Present at review:

Proposed command-line APIs

rosbag record

Usage: rosbag record TOPIC1 [TOPIC2 TOPIC3 ...]

Record a bag file with the contents of specified topics.

Options:
  -h, --help            show this help message and exit
  -a, --all             record all topics
  -q, --quiet           suppress console output
  -o PREFIX, --output-prefix=PREFIX
                        append PREFIX to beginning of bag name (name will
                        always end with date stamp)
  -O NAME, --output-name=NAME
                        record to bag with namename NAME.bag
  -z, --gzip            compress the message with gzip
  -j, --bzip            compress the message with bzip2
  -b SIZE, --buffsize=SIZE
                        use in internal buffer of SIZE MB (Default: 256, 0 =
                        infinite)
  -l NUM, --limit=NUM   only record NUM messages on each topic

rosbag play

Usage: rosbag play BAGFILE1 [BAGFILE2 BAGFILE3 ...]

Play back the contents of one or more bag files in a time-synchronized
fashion.

Options:
  -h, --help            show this help message and exit
  -q, --quiet           suppress console output
  -i, --immediate       play back all messages without waiting
  --pause               start in paused mode
  --queue=SIZE          use an outgoing queue of size SIZE (defaults to 0)
  --frequency=HZ        publish the log time at a frequency of HZ (default:
                        100)
  -d SEC, --delay=SEC   Sleep SEC seconds after every advertise call (to allow
                        subscribers to connect).
  -r FACTOR, --rate=FACTOR
                        multiply the publish rate by FACTOR
  -s TIME, --start=TIME
                        start TIME seconds into the bag files

rosbag info

Usage: rosbag info BAGFILE

Summarize the contents of a bag file.

Options:
  -h, --help  show this help message and exit

Returns bag information in YAML format: 

bag: 2009-12-16-10-49-50.bag
version: 1.2
start_time: 1260989391943123000
end_time: 1260989403343135999
length: 11400012999
topics:
  - name: /bar
    count: 58
    datatype: std_msgs/String
    md5sum: 992ce8a1687cec8c8bd883ec73ca41d1

rosbag check

Usage: rosbag check BAG [-g RULEFILE] [EXTRARULES1 EXTRARULES2 ...]

Options:
  -h, --help            show this help message and exit
  -g RULEFILE, --genrules=RULEFILE
                        Generate a rulefile named RULEFILE.
  -a, --append          Append to the end of an existing rulefile after
                        loading it.
  -n, --noplugins       Do not load rulefiles via plugins.

rosbag fix

Usage: rosbag fix INBAG OUTBAG [EXTRARULES1 EXTRARULES2 ...]

Options:
  -h, --help       show this help message and exit
  -n, --noplugins  Do not load rulefiles via plugins.

rosbag filter

Usage: rosbag filter: INBAG OUTBAG EXPRESSION

EXPRESSION can be any Python-legal expression.

The following variables are available:
 * topic: name of topic
 * m: message
 * t: time of message (t.secs, t.nsecs)


Options:
  -h, --help            show this help message and exit
  --print=PRINT-EXPRESSION
                        Python expression to print for verbose debugging. Uses
                        same variables as filter-expression.

Proposed programmatic APIs

C++

   1 namespace rosbag
   2 {
   3   //! Base class for rosbag exceptions
   4   class Exception : public std::runtime_error;
   5 
   6   //! Exception thrown if trying to add or read from an unopened
   7   //  recorder/player
   8   class BagNotOpenException : public Exception;
   9 
  10   //! Exception thrown when assorted IO problems
  11   class BagIOException : public Exception;
  12 
  13   //! Exception thrown if an invalid MsgPos (such as from another bag)
  14   //  is passed to seek
  15   class InvalidMsgPosException : public Exception;
  16 
  17   //! Exception thrown if trying to instantiate a MsgInstance as the
  18   //  wrong type
  19   class InstantiateException : public Exception;
  20 
  21 
  22   //! Class for writinging to a bagfile
  23   class Writer
  24   {
  25      //! Constructor
  26     Writer();
  27     
  28     //! Destructor
  29     ~Writer();
  30     
  31     //! Open a bagfile by name 
  32     bool open(const std::string &file_name);
  33     
  34     //! Close bagfile 
  35     /*!
  36      *  Make sure bagfile is written out to disk, index is appended,
  37      *  file descriptor is closed, etc..
  38      */
  39     void close();
  40     
  41     //! Write a message to the bag file
  42     /*!
  43      * \param topic_name  The topic name
  44      * \param time        Timestamp of the message
  45      * \param msg         A pointer to the message to be added.
  46      *
  47      * Can throw BagNotOpenException or BagIOException
  48      */
  49     void write(const std::string& topic_name, ros::Time time, ros::Message::ConstPtr msg, );
  50 
  51     //! Write a message to the bag file
  52     /*!
  53      * \param topic_name  The topic name
  54      * \param time        Timestamp of the message
  55      * \param msg         A MessageInstance as reterned by reader
  56      *
  57      * Can throw BagNotOpenException or BagIOException
  58      */
  59     void write(const std::string& topic_name, ros::Time time, MessageInstance& msg, );
  60   };
  61 
  62   //! Class representing the location of a message in a bagfile
  63   /*!
  64    *  This is stored in the index and allows for seeking in the bag
  65    */
  66   class MessageId
  67   {
  68     bool valid() const;
  69 
  70     const std::string getTopic();
  71     const std::string getDatatype();
  72     const std::string getMd5sum();
  73     const ros::Time getTime();
  74 
  75     /*!
  76      * Templated type-check 
  77      */
  78     template <class T>
  79     bool isType<T>();
  80 
  81   private:
  82 
  83     // Not part of user interface, but used to do seek on file
  84     uint64_t pos; 
  85   };
  86 
  87   //! Class representing an actual message
  88   /*!
  89    *  This is basically identical to a MessageId, but additionally
  90    *  stores the data from the bag.
  91    */
  92   class MessageInstance : public MessageId
  93   {
  94     template <class T>
  95     boost::shared_ptr<M> instantiate() const;
  96   };
  97 
  98 
  99   //! Typedef for index: map of topic_name -> list of MsgPos
 100   typedef std::map<std::string, std::vector<MessageId> > Index;
 101 
 102 
 103   //! Class for playing from a bagfile
 104   class Reader
 105   {
 106     //! Constructor
 107     Reader();
 108     
 109     //! Destructor
 110     ~Reader();
 111     
 112     //! Open a bagfile by name 
 113     bool open(const std::string &file_name);
 114 
 115     //! Close bagfile 
 116     void close();
 117     
 118     //! Return the bagfile index.
 119     /*!
 120      * The bagfile index is a map of topics which point to vectors of
 121      * MessageId.  These MessageIds can then be used for seeking.
 122      */
 123     const Index& getIndex();
 124 
 125     //! Seek to a specific location in a bagfile from the index
 126     void seek(const MessageId& pos);
 127     
 128     //! Seek to a specific location in the bagfile based on time
 129     void seek(ros::Time time);
 130 
 131     //! Return next message from player
 132     MsgInstance next();
 133 
 134   };
 135 }

Example Usage

   1 int main()
   2 {
   3   rosbag::Writer writer;
   4   rosbag::Reader reader;
   5 
   6   if (!writer.open('out.bag'))
   7     ROS_FATAL("Could not open bag for writing.");
   8   if (!reader.open('in.bag'))
   9     ROS_FATAL("Could not open bag for reading.");
  10 
  11   MessageInstance inst;
  12 
  13   while ((inst = reader.next()).valid())
  14   {
  15     if (inst.isType<my_msgs::MyType>())
  16     {
  17       // Is there a slicker way of doing this with a change to topic tools?
  18       my_msgs::MyType::Ptr msg = inst.instantiate<my_msgs::MyType>();
  19       
  20       // Do something with msg here...
  21 
  22       // Add it into our writer
  23       writer.add(inst.topic, inst.time, msg);
  24     }
  25   }
  26 
  27   reader.close();
  28   writer.close();
  29 }

Python API

The python API will mirror the ROS API with subtle pythonic differences where appropriate. I will do those in a separate review once the C++ API is determined.

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Jeremy

Josh

Ken

Patrick

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

2024-12-07 18:16