Combine rosbags

combine_all_rosbags_in_folder.sh

#!/usr/bin/env bash

set -e

ROSBAG_FOLDER=$1
TOPICS="${@:2}"

ROSBAG_PATH_OUT=${ROSBAG_FOLDER}/combined.bag

i=0

ROSBAG_PATH_A=""
ROSBAG_PATH_B=""
ROSBAG_PATH_TMP=${ROSBAG_FOLDER}/tmp.bag

ALL_ROSBAGS=$(ls $ROSBAG_FOLDER/*.bag)

echo "All rosbags: ${ALL_ROSBAGS}"

for ROSBAG_PATH in $ROSBAG_FOLDER/*.bag; do
  echo "Iteration $i"
  if [ $i -eq 0 ]
  then
    ROSBAG_PATH_A=${ROSBAG_PATH}
  else
    ROSBAG_PATH_B=${ROSBAG_PATH}

    echo "./combine_bags.py -i1 $ROSBAG_PATH_A -t1 $TOPICS -i2 $ROSBAG_PATH_B -t2 $TOPICS -o $ROSBAG_PATH_OUT"
    ./combine_bags.py -i1 $ROSBAG_PATH_A -t1 $TOPICS -i2 $ROSBAG_PATH_B -t2 $TOPICS -o $ROSBAG_PATH_OUT

    # Make the output the new input bag A.
    rm -rf  $ROSBAG_PATH_TMP
    mv $ROSBAG_PATH_OUT $ROSBAG_PATH_TMP
    ROSBAG_PATH_A=${ROSBAG_PATH_TMP}
  fi

  ((i=i+1))
done

# Move the tmp back to the output location.
mv $ROSBAG_PATH_TMP $ROSBAG_PATH_OUT

combine_bags.py

#!/usr/bin/env python

import roslib
import rosbag
import rospy
import sys
import argparse


def main(argv):

    inputfile1 = ''
    topics1 = ''
    inputfile2 = ''
    topics2 = ''
    outputfile = ''


if __name__ == '__main__':
    parser = argparse.ArgumentParser()
    parser.add_argument('-o', dest='outputfile', required=True)
    parser.add_argument('-i1', dest='inputfile1', required=True)
    parser.add_argument('-t1', dest='topics1', nargs='*', type=str)
    parser.add_argument('-i2', dest='inputfile2', required=True)
    parser.add_argument('-t2', dest='topics2', nargs='*', type=str)
    parsed_args = parser.parse_args()

    inputfile1 = parsed_args.inputfile1
    inputfile2 = parsed_args.inputfile2
    outputfile = parsed_args.outputfile
    topics1 = parsed_args.topics1
    topics2 = parsed_args.topics2

    print 'Input 1 file is "', inputfile1
    print 'Input 1 topics are "', topics1
    print 'Input 2 file is "', inputfile2
    print 'Input 2 topics are "', topics2
    print 'Output file is "', outputfile

    rospy.init_node('bag_combiner')

    outbag = rosbag.Bag(outputfile, 'w')

    print "[ --- combine bags --- ]"

    try:
        for topic, msg, t in rosbag.Bag(inputfile1).read_messages(topics=topics1):
            if topic == "/tf" or topic == "/tf_static":
                outbag.write(topic, msg, msg.transforms[0].header.stamp)
            else:
                outbag.write(topic, msg, msg.header.stamp)

    finally:
        print ""
        print ": Finished iterating through bag 1."
        print ""
    try:
        for topic, msg, t in rosbag.Bag(inputfile2).read_messages(topics=topics2):
            if topic == "/tf" or topic == "/tf_static":
                outbag.write(topic, msg, msg.transforms[0].header.stamp)
            else:
                outbag.write(topic, msg, msg.header.stamp)

    finally:
        print ""
        print ": Finished iterating through bag 2."
        print ""
        outbag.close()


if __name__ == "__main__":
    main(sys.argv[1:])