Add license

rosbag_filter_subsequence.sh

# BSD 2-Clause License
# 
# Copyright (c) 2014-2019, Nikolaus Demmel
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.
#
# 2. 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.
#
# 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 HOLDER 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.

INBAG=$1
OUTBAG=$2
STARTTIME=$3
DURATION=$4
ENDTIME="($STARTTIME + $DURATION)"

rosbag filter $INBAG $OUTBAG \
"((
( (topic == '/camera/image_mono') or (topic == 'camera/image_mono') or
  (topic == '/camera/camera_info') or (topic == 'camera/camera_info') or
  (topic == '/bosch_imu/imu0/data_raw') or (topic == 'bosch_imu/imu0/data_raw') or
  (topic == '/ps') or (topic == 'ps') or
  (topic == '/xsens_imu/imu/data') or (topic == 'xsens_imu/imu/data') or
  (topic == '/imu/data') or (topic == 'imu/data') or
  (topic == '/vps_pose_covariance') or (topic == 'vps_pose_covariance') or
  (topic == '/vps_pose_covariance_camera') or (topic == 'vps_pose_covariance_camera') or
  (topic == '/vps_pose_covariance_imu') or (topic == 'vps_pose_covariance_imu') )
and
  (m.header.stamp.to_sec() >= $STARTTIME and m.header.stamp.to_sec() < $ENDTIME) 
) or
(
  ( (topic == '/richimage') or (topic == 'richimage') )
and
  (m.image.header.stamp.to_sec() >= $STARTTIME and m.image.header.stamp.to_sec() < $ENDTIME)
) or
(
  ( (topic == '/camera_measurement_info') or (topic == 'camera_measurement_info') )
and
  (m.measurement.richimage.image.header.stamp.to_sec() >= $STARTTIME and m.measurement.richimage.image.header.stamp.to_sec() < $ENDTIME)
) or
(
  ( (topic == '/tf') or (topic == '') )
and
  (m.transforms[0].header.stamp.to_sec() >= $STARTTIME and m.transforms[0].header.stamp.to_sec() < $ENDTIME)
))"

rosbag_merge.py

#!/usr/bin/env python

# BSD 2-Clause License
# 
# Copyright (c) 2014-2019, Nikolaus Demmel
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.
#
# 2. 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.
#
# 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 HOLDER 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 argparse
from fnmatch import fnmatchcase

from rosbag import Bag

def main():

    parser = argparse.ArgumentParser(description='Merge one or more bag files
                                     with the possibilities of filtering topics.')
    parser.add_argument('outputbag',
                        help='output bag file with topics merged')
    parser.add_argument('inputbag', nargs='+',
                        help='input bag files')
    parser.add_argument('-v', '--verbose', action="store_true", default=False,
                        help='verbose output')
    parser.add_argument('-t', '--topics', default="*",
                        help='string interpreted as a list of topics (wildcards \'*\' and \'?\' allowed) to include in the merged bag file')

    args = parser.parse_args()

    topics = args.topics.split(' ')

    total_included_count = 0
    total_skipped_count = 0

    if (args.verbose):
        print("Writing bag file: " + args.outputbag)
        print("Matching topics against patters: '%s'" % ' '.join(topics))

    with Bag(args.outputbag, 'w') as o: 
        for ifile in args.inputbag:
            matchedtopics = []
            included_count = 0
            skipped_count = 0
            if (args.verbose):
                print("> Reading bag file: " + ifile)
            with Bag(ifile, 'r') as ib:
                for topic, msg, t in ib:
                    if any(fnmatchcase(topic, pattern) for pattern in topics):
                        if not topic in matchedtopics:
                            matchedtopics.append(topic)
                            if (args.verbose):
                                print("Including matched topic '%s'" % topic)
                        o.write(topic, msg, t)
                        included_count += 1
                    else:
                        skipped_count += 1
            total_included_count += included_count
            total_skipped_count += skipped_count
            if (args.verbose):
                print("< Included %d messages and skipped %d" % (included_count, skipped_count))

    if (args.verbose):
        print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count))

if __name__ == "__main__":
    main()

Hi Nikolaus,

What license is this under? Do you mind releasing it as BSD 3-clause? (the most common one used by ROS projects)?

Sure, I added a BSD 2-clause license, since its even simpler. I hope that works for you.

Thanks!