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I'm pretty sure that using threading Lock acquire-release around all writes will solve this, I'll update this once I have it working (this occurred to me as I was writing the question, but this should be useful for others that make the same mistake).

I'm pretty sure that using threading Lock acquire-release around all bag writes will solve this, I'll update this once I have it working (this occurred to me as I was writing the question, but this should be useful for others that make the same mistake).

I'm pretty sure that using threading Lock acquire-release around all bag writes will solve this, I'll update this once I have it working (this occurred to me as I was writing the question, but this should be useful for others that make the same mistake).

Note that the rosbag API's are not thread-safe for reading and writing any given bag file. Users of the APIs must ensure no concurrent input/output operations are performed on different threads.

http://wiki.ros.org/rosbag/Code%20API

I'm pretty sure that using threading Lock acquire-release around all bag writes will solve this, I'll update this once I have it working (this occurred to me as I was writing the question, but this should be useful for others that make the same mistake).

Note that the rosbag API's are not thread-safe for reading and writing any given bag file. Users of the APIs must ensure no concurrent input/output operations are performed on different threads.

http://wiki.ros.org/rosbag/Code%20API

This appears to be working, haven't seen a corrupt bag yet:

...
from threading import Lock

class Blah:
    def __init__(self):
        self.lock = Lock()
...  
        self.lock.acquire()
        self.bag = rosbag(filename, 'w')
        self.lock.release()
...
        self.lock.acquire()
        self.bag.close()
        self.lock.release()
...
    def foo_callback(self, msg):
        self.lock.acquire()
        self.bag.write("foo", msg)
        self.lock.release()
...