ROS Index
Repository Summary
| Checkout URI | https://github.com/ros/rosbag_snapshot.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| rosbag_snapshot | 1.0.5 |
| rosbag_snapshot_msgs | 1.0.5 |
README
rosbag_snapshot
Solution for this ros_comm issue which acts similarly to the deprecated rosrecord -s command but with additional features. It is added as a new package here rather than patching rosbag based on the discussion here.
It subscribes to topics and maintains a buffer of recent messages like a dash cam. This is useful in live testing where unexpected events can occur which would be useful to have data on but the opportunity is missed if rosbag record was not running (disk space limits make always running rosbag record impracticable). Instead, users may run snapshot in the background and save data from the recent past to disk as needed.
Usage
rosbag_snapshot can be configured through command line flags and with ROS params for more granular control. By default, the command will run in server mode (buffering data). When certain flags are used, program will act as a client by requesting that the server write data to disk or freezing the buffer to preserve interesting data until a user can decide what to write.
CLI usage
$ rosrun rosbag_snapshot snapshot -h
Usage: snapshot [options] [topic1 topic2 ...]
Buffer recent messages until triggered to write or trigger an already running instance.
Options:
-h [ --help ] produce help message
-t [ --trigger-write ] Write buffer of selected topics to a bag file
-p [ --pause ] Stop buffering new messages until resumed or
write is triggered
-r [ --resume ] Resume buffering new messages, writing over
older messages as needed
-n [ --no-clear ] Flag to explicitly NOT clear buffer after writing
to a bag file (no tag will clear buffer)
-s [ --size ] arg (=-1) Maximum memory per topic to use in buffering in
MB. Default: no limit
-d [ --duration ] arg (=30) Maximum difference between newest and oldest
buffered message per topic in seconds. Default:
30
-o [ --output-prefix ] arg When in trigger write mode, prepend PREFIX to
name of writing bag file
-O [ --output-filename ] arg When in trigger write mode, exact name of
written bag file
--topic arg Topic to buffer. If triggering write, write only
these topics instead of all buffered topics.
-c [ --compression ] arg Compression type. Options are: LZ4, BZ2.
Default: uncompressed.
Hold a buffer of the last 30 seconds of data from selected topics until triggered to write
rosrun rosbag_snapshot snapshot -d 30 /tf /odom /camera/image_color /camera/camera_info /velodyne_points
Buffer the most recent gigabyte of the following topics in the camera namespace
ROS_NAMESPACE=camera rosrun rosbag_snapshot snapshot -s 1000 image_rect_color camera_info
Example launch file
<launch>
<node name="snapshot" pkg="rosbag_snapshot" type="snapshot" args="">
<rosparam>
default_duration_limit: 1 # Maximum time difference between newest and oldest message, seconds, overrides -d flag
default_memory_limit: 0.1 # Maximum memory used by messages in each topic's buffer, MB, override -s flag
clear_buffer: false # No option / true will clear the buffer after writing to bag. False will not clear buffer
compression: LZ4 # LZ4, BZ2, uncompressed
topics:
- test1 # Inherit defaults
- test2: # Override duration limit, inherit memory limit
duration: 2
- test3: # Override both limits
duration: -1 # Negative means no duration limit
memory: 0.00
</rosparam>
</node>
</launch>
Client examples
Write all buffered data to <datetime>.bag
rosrun rosbag_snapshot snapshot -t
Write buffered data from selected topics to new_lighting<datetime>.bag
rosrun rosbag_snapshot snapshot -t -o new_lighting /camera/image_raw /camera/camera_info
Write all buffered data to /home/user/crashed_into_wall.bag
rosrun rosbag_snapshot snapshot -t -O /home/user/crashed_into_wall
Pause buffering of new data, holding current buffer in memory until -t or -r is used
rosrun rosbag_snapshot snapshot -p
Resume buffering new data
rosrun rosbag_snapshot snapshot -r
Call trigger service manually, specifying absolute window start and stop time for written data
$ rosservice call /trigger_snapshot "filename: 'short_control_instability.bag'
topics:
- '/tf'
- '/odom'
- '/wrench'
- '/motors/cmd'
start_time:
secs: 62516
nsecs: 0
stop_time:
secs: 62528
nsecs: 0"
View status of buffered data (useful for future tools/GUI)
$ rostopic echo /snapshot_status
topics:
-
topic: "/test"
node_pub: ''
node_sub: "/snapshot_1527185221120605085"
window_start:
secs: 62516
nsecs: 761000000
window_stop:
secs: 62521
nsecs: 984000000
delivered_msgs: 524
dropped_msgs: 0
traffic: 2096
period_mean:
secs: 0
nsecs: 0
period_stddev:
secs: 0
nsecs: 0
period_max:
secs: 0
nsecs: 0
stamp_age_mean:
secs: 0
nsecs: 0
stamp_age_stddev:
secs: 0
nsecs: 0
stamp_age_max:
secs: 0
nsecs: 0
enabled: True
---
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros/rosbag_snapshot.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| rosbag_snapshot | 1.0.5 |
| rosbag_snapshot_msgs | 1.0.5 |
README
rosbag_snapshot
Solution for this ros_comm issue which acts similarly to the deprecated rosrecord -s command but with additional features. It is added as a new package here rather than patching rosbag based on the discussion here.
It subscribes to topics and maintains a buffer of recent messages like a dash cam. This is useful in live testing where unexpected events can occur which would be useful to have data on but the opportunity is missed if rosbag record was not running (disk space limits make always running rosbag record impracticable). Instead, users may run snapshot in the background and save data from the recent past to disk as needed.
Usage
rosbag_snapshot can be configured through command line flags and with ROS params for more granular control. By default, the command will run in server mode (buffering data). When certain flags are used, program will act as a client by requesting that the server write data to disk or freezing the buffer to preserve interesting data until a user can decide what to write.
CLI usage
$ rosrun rosbag_snapshot snapshot -h
Usage: snapshot [options] [topic1 topic2 ...]
Buffer recent messages until triggered to write or trigger an already running instance.
Options:
-h [ --help ] produce help message
-t [ --trigger-write ] Write buffer of selected topics to a bag file
-p [ --pause ] Stop buffering new messages until resumed or
write is triggered
-r [ --resume ] Resume buffering new messages, writing over
older messages as needed
-n [ --no-clear ] Flag to explicitly NOT clear buffer after writing
to a bag file (no tag will clear buffer)
-s [ --size ] arg (=-1) Maximum memory per topic to use in buffering in
MB. Default: no limit
-d [ --duration ] arg (=30) Maximum difference between newest and oldest
buffered message per topic in seconds. Default:
30
-o [ --output-prefix ] arg When in trigger write mode, prepend PREFIX to
name of writing bag file
-O [ --output-filename ] arg When in trigger write mode, exact name of
written bag file
--topic arg Topic to buffer. If triggering write, write only
these topics instead of all buffered topics.
-c [ --compression ] arg Compression type. Options are: LZ4, BZ2.
Default: uncompressed.
Hold a buffer of the last 30 seconds of data from selected topics until triggered to write
rosrun rosbag_snapshot snapshot -d 30 /tf /odom /camera/image_color /camera/camera_info /velodyne_points
Buffer the most recent gigabyte of the following topics in the camera namespace
ROS_NAMESPACE=camera rosrun rosbag_snapshot snapshot -s 1000 image_rect_color camera_info
Example launch file
<launch>
<node name="snapshot" pkg="rosbag_snapshot" type="snapshot" args="">
<rosparam>
default_duration_limit: 1 # Maximum time difference between newest and oldest message, seconds, overrides -d flag
default_memory_limit: 0.1 # Maximum memory used by messages in each topic's buffer, MB, override -s flag
clear_buffer: false # No option / true will clear the buffer after writing to bag. False will not clear buffer
compression: LZ4 # LZ4, BZ2, uncompressed
topics:
- test1 # Inherit defaults
- test2: # Override duration limit, inherit memory limit
duration: 2
- test3: # Override both limits
duration: -1 # Negative means no duration limit
memory: 0.00
</rosparam>
</node>
</launch>
Client examples
Write all buffered data to <datetime>.bag
rosrun rosbag_snapshot snapshot -t
Write buffered data from selected topics to new_lighting<datetime>.bag
rosrun rosbag_snapshot snapshot -t -o new_lighting /camera/image_raw /camera/camera_info
Write all buffered data to /home/user/crashed_into_wall.bag
rosrun rosbag_snapshot snapshot -t -O /home/user/crashed_into_wall
Pause buffering of new data, holding current buffer in memory until -t or -r is used
rosrun rosbag_snapshot snapshot -p
Resume buffering new data
rosrun rosbag_snapshot snapshot -r
Call trigger service manually, specifying absolute window start and stop time for written data
$ rosservice call /trigger_snapshot "filename: 'short_control_instability.bag'
topics:
- '/tf'
- '/odom'
- '/wrench'
- '/motors/cmd'
start_time:
secs: 62516
nsecs: 0
stop_time:
secs: 62528
nsecs: 0"
View status of buffered data (useful for future tools/GUI)
$ rostopic echo /snapshot_status
topics:
-
topic: "/test"
node_pub: ''
node_sub: "/snapshot_1527185221120605085"
window_start:
secs: 62516
nsecs: 761000000
window_stop:
secs: 62521
nsecs: 984000000
delivered_msgs: 524
dropped_msgs: 0
traffic: 2096
period_mean:
secs: 0
nsecs: 0
period_stddev:
secs: 0
nsecs: 0
period_max:
secs: 0
nsecs: 0
stamp_age_mean:
secs: 0
nsecs: 0
stamp_age_stddev:
secs: 0
nsecs: 0
stamp_age_max:
secs: 0
nsecs: 0
enabled: True
---