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I modified MumboJumbo code to give human readable output:

To run: python rosbag_size_by_topic.py BAG_FILE_PATH or

rosrun PACKAGE rosbag_size_by_topic.py BAG_FILE_PATH

rosbag_size_by_topic.py:

#!/usr/bin/env python
# Prints total cumulative serialized msg size in bytes per topic
# Calculation takes approximately 1sec/GB
# Usage:   python rosbag_size_by_topic.py BAG_FILE_PATH

import rosbag
import sys

topic_size_dict = {}
for topic, msg, time in rosbag.Bag(sys.argv[1], "r").read_messages(raw=True):
    topic_size_dict[topic] = topic_size_dict.get(topic, 0) + len(msg[1])

topic_size = list(topic_size_dict.items())
topic_size.sort(key=lambda x: x[1], reverse=False)

for topic, size in topic_size:
    if size < 1000:
        print("{:7d}B  {}".format(size, topic))
    elif size >= 1000000000000:
        print("{:7.2f}T  {}".format(size/1000000000000, topic))
    elif size >= 1000000000:
        print("{:7.2f}G  {}".format(size/1000000000, topic))
    elif size >= 1000000:
        print("{:7.2f}M  {}".format(size/1000000, topic))
    elif size >= 1000:
        print("{:7.2f}K  {}".format(size/1000, topic))

Example of output:

     86B  /tf_static
    775B  /move_base/global_costmap/inflater_layer/parameter_descriptions
    775B  /move_base/local_costmap/inflater_layer/parameter_descriptions
   1.01K  /mobile_base_controller/parameter_descriptions
   1.33K  /move_base/goal
   1.88K  /voxel_grid/parameter_descriptions
 866.76K  /move_base/GlobalPlanner/plan
 921.19K  /path_planner/visualization_marker
   1.10M  /move_base/TebLocalPlannerROS/local_plan
   1.18M  /imu/mag
   1.19M  /move_base/TebLocalPlannerROS/teb_markers
  19.89M  /tf
 284.01M  /move_base/GlobalPlanner/potential
  19.54G  /move_base/global_costmap/obstacles_layer/voxel_grid