bench_topics.py

#!/usr/bin/python3
import subprocess
import os
import sys

SECONDS=5

if len(sys.argv) > 1:
  print("Recording topics...", )
  topics = ["/an_device/sync/Imu", \
            "/lidar_1/sync/cloud_1", \
            "/cam1/left/camera_info", \
            "/cam1/stereo_camera_info", \
            "/cam1/sync/disparity_map", \
            "/cam1/sync/left_image", \
            "/cam1/sync/point_cloud", \
            "/tf" ]
else:
  print("Recording all topics...")
  output = subprocess.getoutput("rostopic list")
  topics = output.splitlines()


file = open("bench_topics.csv",'w')
speeds = [] 
for topic in topics:
  FILENAME = "topic_" + topic + ".bag"
  FILENAME= FILENAME.replace("/", "-")
#  print ("Recording " + FILENAME)
  COMMAND = "rosbag record -O " + FILENAME + " --duration=" + str(SECONDS) + " " + topic
#  print(COMMAND)
  output = subprocess.getoutput(COMMAND)
  size = os.path.getsize(FILENAME)
  KB = (size/1024/SECONDS)
  print(topic + " has datarate %.2f Kb/Sec" % (KB))
  file.write(" " + topic + ", " + str(KB) + "\n")
  speeds.append(KB) 

total=0
for speed in speeds:
  total += speed;

total_gb = total / 1024
print("Total bandwidth = %.2f Kb/Sec (%.2f Mb/Sec)" % (total, total_gb))
file.close()