54 lines
1.7 KiB
Python
Executable File
54 lines
1.7 KiB
Python
Executable File
#!/usr/bin/python
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# -*- coding: utf-8 -*-
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""A simple tool to remove leading slashes from frame names."""
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import argparse
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import os
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import rosbag
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def ParseArgs():
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argument_parser = argparse.ArgumentParser(
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description="Removes leading slashes from frame names.")
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argument_parser.add_argument("input", type=str, help="Input bag")
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return argument_parser.parse_args()
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def RewriteMsg(msg):
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if hasattr(msg, "header"):
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if msg.header.frame_id.startswith("/"):
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msg.header.frame_id = msg.header.frame_id[1:]
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if hasattr(msg, "child_frame_id"):
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if msg.child_frame_id.startswith("/"):
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msg.child_frame_id = msg.child_frame_id[1:]
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if hasattr(msg, "transforms"):
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for transform_msg in msg.transforms:
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RewriteMsg(transform_msg)
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def Main():
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options = ParseArgs()
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with rosbag.Bag(os.path.splitext(options.input)[0] + ".filtered.bag",
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"w") as outbag:
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for topic, msg, t in rosbag.Bag(options.input).read_messages():
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RewriteMsg(msg)
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outbag.write(topic, msg, msg.header.stamp if msg._has_header else t)
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if __name__ == "__main__":
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Main()
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