Bag Processing

Package Overview

The bag processing package provides several helper tools for handling bagfiles.

Usage Instructions

For each script, run rosrun bag_processing script_name.py -h for further details and usage instructions.

Scripts

apply_histogram_equalization_to_images

Applies either CLAHE or standard histogram equalization to images in a bagfile.

check_bag_for_gaps

Prints gaps above provided maximum time for a bagfile and topic using either message header times or bag receive times. Also prints stats for the time differences for messages with the provided topic in the bagfile.

clock_skew

Analyze clock skew LLP->MLP and HLP->MLP. Inputs an ars_default.bag containing the /mgt/sys_monitor/time_sync topic.

csv_join

Join two CSV files by timestamp. (After creating the CSV files by exporting a message topic from a bag.)

get_msg_stats

Prints stats for a numeric field of a topic in a bagfile.

rosbag_debayer

Creates a new bagfile with grayscale and color images for the provided bags using their bayer encoded images. If no bags are provided, runs conversion for each bag in the current directory.

rosbag_detect_bad_topics

Detect bad topics that the rosbag API can't handle. (The main problem so far has been rosjava messages that have incomplete message definition dependency information that causes rosbag to raise an exception when it tries to deserialize the message.)

rosbag_fix_all

Master script to apply all passes of processing needed to fix our legacy bag files. The actual processing steps are found in Makefile.rosbag_fix_all. The strategy is explained in [1].

[1] https://github.com/nasa/astrobee/blob/develop/doc/general_documentation/maintaining_telemetry.md

rosbag_merge

Merges bagfiles with given prefix in the current directory. Creates merged bagfiles for each provided bag prefix or for each prefix in the current directory if none are provided.

rosbag_rewrite_types

Tool that applies rules to fix bag files, as specified in rosbag_rewrite_types_rules.json. It performs two types of fix:

1. Fix incomplete message definition metadata, as written by rosjava nodes. Which topics to fix is specified in the fix_message_definition_topic_patterns field of the rules file.
2. For message types whose definition changed in a way that makes migration infeasible, changes the message type name to be the "frozen" type name, so that migration is not needed. Which message types to fix is specified in the rename_types field of the rules file.

This script is normally invoked by rosbag_fix_all.

rosbag_sample

Takes a minimal sample from each message in a bag for compatibility testing. If the full bags are multiple gigabytes in size and are not needed for basic backward compatibility testing.

rosbag_splice

Interactively splices a bagfile at selected timestamps to create multiple smaller bagfiles, which when combined span the original bagfile. Iterates through the bagfile images to allow the user to select splice points.

rosbag_topic_filter

Filter rosbag messages based on topic. Like a subset of rosbag filter functionality, but more robust to incomplete message definitions because it doesn't need to deserialize the messages to filter on topic.

rosbag_trim

Creates a new bagfile with trimmed start and end times from a provided bagfile.

rosbag_verify

Verify correctness of a ROS bag, as output by rosbag_fix_all.py. This performs some simple checks that are not part of the standard "rosbag check".

rosbag_recover

In case a bag recording is corrupted. This script will split the bag into topics, run the rosbag_fixall on each individual topic, and merge them. This way, the worst that can happen is partially losing one topic.

Utilities

utilities/bmr_renumber_enum

This is not a standalone script. It is a library that provides utility functions to be used in *.bmr bag migration rules to help with migrating legacy messages that contain an enumerated field where the label numbering has changed.

Resources

Contains the decoding files for the haz cam extended topics. These were generated with data from the robot checkout activities and ISAAC activities using the scripts in Pico Flexx Python utilities