参考:
先上代码 merge_bag.py:
#!/usr/bin/env python
import sys
import argparse
from fnmatch import fnmatchcase
from rosbag import Bag
def main():
parser = argparse.ArgumentParser(description='Merge one or more bag files with the possibilities of filtering topics.')
parser.add_argument('outputbag',
help='output bag file with topics merged')
parser.add_argument('inputbag', nargs='+',
help='input bag files')
parser.add_argument('-v', '--verbose', action="store_true", default=False,
help='verbose output')
parser.add_argument('-t', '--topics', default="*",
help='string interpreted as a list of topics (wildcards \'*\' and \'?\' allowed) to include in the merged bag file')
args = parser.parse_args()
topics = args.topics.split(' ')
total_included_count = 0
total_skipped_count = 0
if (args.verbose):
print("Writing bag file: " + args.outputbag)
print("Matching topics against patters: '%s'" % ' '.join(topics))
with Bag(args.outputbag, 'w') as o:
for ifile in args.inputbag:
matchedtopics = []
included_count = 0
skipped_count = 0
if (args.verbose):
print("> Reading bag file: " + ifile)
with Bag(ifile, 'r') as ib:
for topic, msg, t in ib:
if any(fnmatchcase(topic, pattern) for pattern in topics):
if not topic in matchedtopics:
matchedtopics.append(topic)
if (args.verbose):
print("Including matched topic '%s'" % topic)
o.write(topic, msg, t)
included_count += 1
else:
skipped_count += 1
total_included_count += included_count
total_skipped_count += skipped_count
if (args.verbose):
print("< Included %d messages and skipped %d" % (included_count, skipped_count))
if (args.verbose):
print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count))
if __name__ == "__main__":
main()
- 将两个bag里所有topic合并到一个bag中:
python3 merge_bags.py -v total.bag 2_hq9570_rear_lcr_2022-04-21-20-27-17_filtered.bag 3_hq9570_rear_lcr_2022-04-21-20-38-41_filtered.bag
# 就是把 2_hq9570_rear_lcr_2022-04-21-20-27-17_filtered.bag 和 3_hq9570_rear_lcr_2022-04-21-20-38-41_filtered.bag 完全合并在一起,时间戳打的都是原来两个bag里原始的时间戳,而不是像一边rosbag play一边rosbag record一样录的是现在这个时间戳
- 将两个bag里某些topic合并到一个bag中:
python3 merge_bags.py -v --topic '/perception/camera/camera_obstacle /perception/lidar/percept_info_rviz /perception/radar/front/radar_obstacle /perception/radar/rear_right/radar_obstacle' total.bag 2_hq9570_rear_lcr_2022-04-21-20-27-17_filtered.bag 3_hq9570_rear_lcr_2022-04-21-20-38-41_filtered.bag
# 就是把 2_hq9570_rear_lcr_2022-04-21-20-27-17_filtered.bag 里的 /perception/camera/camera_obstacle /perception/lidar/percept_info_rviz 和 3_hq9570_rear_lcr_2022-04-21-20-38-41_filtered.bag 里的 /perception/radar/front/radar_obstacle /perception/radar/rear_right/radar_obstacle 合并在一起
注意:运行以上合并bag的脚本之前需要先获取权限:sudo chmod +x merge_bags.py