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Inserting into a Rosbag

asked 2012-05-04 19:32:04 -0500

David Lu gravatar image

updated 2014-01-28 17:12:12 -0500

ngrennan gravatar image

Is there any way to add to a message to a rosbag at the beginning? I know you can append to a rosbag, but I want the message at the beginning.

Inserting all the other messages in afterward screws up the timing.

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answered 2012-05-05 07:28:28 -0500

Dustin gravatar image

I think rosbag Cookbook can do what you want. http://www.ros.org/wiki/rosbag/Cookbook

By section 1.2 of that link you do the following

import rosbag

with rosbag.Bag('input.bag', 'a') as bag:
    from std_msgs.msg import String
    metadata = String(data='my metadata')

    for _, _, t in bag.read_messages():
        break
    bag.write('/metadata', metadata, t - roslib.rostime.Duration(0, 1))

Of course this does require post processing the data which may not be desirable.

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bag.write appends to a bagfile, but your code gets the emit time of the first message and substracts one usec, so that the metadata is the first message being emitted which results in a mess. To get a proper bag you'll need to add subprocess.Popen(['rosbag', 'fix', 'input.bag', 'output.bag'])

tik0 gravatar imagetik0 ( 2016-08-29 02:16:25 -0500 )edit

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Asked: 2012-05-04 19:32:04 -0500

Seen: 898 times

Last updated: May 05 '12