Simple script to log all current ROS topics

rostopicmon.bash

#!/usr/bin/env bash                                                                            

# Logs all current ROS topics to files                                                         

declare -a pids
declare -a topics

CYAN="\033[0;36m"
RED="\033[0;31m"
NO_COLOR="\033[0m"

function quitsafely(){
    echo -e "${RED}Killing${NO_COLOR} PIDs ${pids[@]}"
    for pid in ${pids[@]}; do
        kill -9 $pid
    done
    exit
}

trap 'quitsafely' SIGINT SIGQUIT SIGHUP SIGTERM
i=0;

for topic in $(rostopic list); do
    rostopic echo $topic >${topic//\//_} 2>/dev/null &
    pids[$i]=$!
    topics[$i]=$topic
    let i++
done

echo -e "Logging topics ${topics[@]//\//${CYAN}/${NO_COLOR}}"
echo -e "${RED}Interrupt${NO_COLOR} (ctrl-C) to quit"
while true; do sleep 1; done