preparing for indigo. changed prints for ros logs

miquelmassot · miquelmassot · commit deb7f92c42cb · 2014-03-31T12:09:11.000+02:00
diff --git a/bag_tools/scripts/bag_tools/add_header_time_offset.py b/bag_tools/scripts/bag_tools/add_header_time_offset.py
@@ -42,10 +42,10 @@
 def add_offset(inbags, topics, offset):
   for inbag in inbags:
     outbag = "timefixed-" + inbag
-    print '      Processing input bagfile: ', inbag
-    print '     Writing to output bagfile: ', outbag
-    print 'Changing header time of topics: ', topics
-    print '                 Adding offset: ', offset
+    rospy.loginfo('      Processing input bagfile: %s', inbag)
+    rospy.loginfo('     Writing to output bagfile: %s', outbag)
+    rospy.loginfo('Changing header time of topics: %s', topics)
+    rospy.loginfo('                 Adding offset: %s', offset)
     outbag = rosbag.Bag(outbag,'w')
     time_offset = rospy.Duration.from_sec(offset)
     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
diff --git a/bag_tools/scripts/bag_tools/bag_add_time_offset.py b/bag_tools/scripts/bag_tools/bag_add_time_offset.py
@@ -40,10 +40,10 @@
 import argparse
 
 def fix_bagfile(inbag, outbag, topics, offset):
-    print '   Processing input bagfile: ', inbag
-    print '  Writing to output bagfile: ', outbag
-    print '            Changing topics: ', topics
-    print 'Changing publishing time by: ', offset
+    rospy.loginfo('      Processing input bagfile: %s', inbag)
+    rospy.loginfo('     Writing to output bagfile: %s', outbag)
+    rospy.loginfo('               Changing topics: %s', topics)
+    rospy.loginfo('   Changing publishing time by: %s', offset)
 
     outbag = rosbag.Bag(outbag, 'w')
 
@@ -59,11 +59,11 @@ def fix_bagfile(inbag, outbag, topics, offset):
             count[topic] = count[topic] + 1
         else:
             outbag.write(topic, msg, t)
-    print 'Closing output bagfile.'
+    rospy.loginfo('Closing output bagfile.')
     outbag.close()
-    print 'Changed the following:'
+    rospy.loginfo('Changed the following:')
     for k, v in count.iteritems():
-      print k, ': ', v, ' messages.'
+      rospy.loginfo( '%s:%s messages.',k,v)
 
 if __name__ == "__main__":
 
diff --git a/bag_tools/scripts/bag_tools/batch_process.py b/bag_tools/scripts/bag_tools/batch_process.py
@@ -45,7 +45,7 @@ def process(in_dir,out_dir,command):
     for bagfile in bagfiles:
         outbag = out_dir + "/" + os.path.basename(bagfile)
         if os.path.exists(outbag):
-            print outbag, "exists, skipping."
+            rospy.loginfo('%s exists, skipping.', outbag)
         else:
             cmd = command.split()
             cmd.append("-i")
diff --git a/bag_tools/scripts/bag_tools/camera_info_parser.py b/bag_tools/scripts/bag_tools/camera_info_parser.py
@@ -56,7 +56,7 @@ def parse_yaml(filename):
   args = parser.parse_args()
   try:
     info = parse_yaml(args.filename)
-    print 'Read the following info from', args.filename, '\n', info
+    rospy.loginfo('Read the following info from %s\n%s', args.filename, info)
   except Exception, e:
     import traceback
     traceback.print_exc()
diff --git a/bag_tools/scripts/bag_tools/change_camera_info.py b/bag_tools/scripts/bag_tools/change_camera_info.py
@@ -42,12 +42,12 @@
 import sensor_msgs.msg
 
 def change_camera_info(inbag,outbag,replacements):
-  print '   Processing input bagfile: ', inbag
-  print '  Writing to output bagfile: ', outbag
+  rospy.loginfo('      Processing input bagfile: %s', inbag)
+  rospy.loginfo('     Writing to output bagfile: %s', outbag)
   # parse the replacements
   maps = {}
   for k, v in replacements.items():
-    print 'Changing topic', k, 'to contain following info (header will not be changed):\n', v
+    rospy.loginfo('Changing topic %s to contain following info (header will not be changed):\n%s',k,v)
 
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
@@ -56,7 +56,7 @@ def change_camera_info(inbag,outbag,replacements):
       new_msg.header = msg.header
       msg = new_msg
     outbag.write(topic, msg, t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 def replacement(replace_string):
diff --git a/bag_tools/scripts/bag_tools/change_frame_id.py b/bag_tools/scripts/bag_tools/change_frame_id.py
@@ -40,18 +40,18 @@
 import argparse
 
 def change_frame_id(inbag,outbag,frame_id,topics):
-  print '   Processing input bagfile: ', inbag
-  print '  Writing to output bagfile: ', outbag
-  print '            Changing topics: ', topics
-  print '           Writing frame_id: ', frame_id
+  rospy.loginfo('   Processing input bagfile: %s', inbag)
+  rospy.loginfo('  Writing to output bagfile: %s', outbag)
+  rospy.loginfo('            Changing topics: %s', topics)
+  rospy.loginfo('           Writing frame_id: %s', frame_id)
 
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
     if topic in topics:
       if msg._has_header:
         msg.header.frame_id = frame_id
     outbag.write(topic, msg, t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 if __name__ == "__main__":
diff --git a/bag_tools/scripts/bag_tools/change_topics.py b/bag_tools/scripts/bag_tools/change_topics.py
@@ -40,16 +40,16 @@
 import argparse
 
 def change_topics(inbag,outbag,replacements):
-  print '   Processing input bagfile: ', inbag
-  print '  Writing to output bagfile: ', outbag
-  print '               Replacements: ', replacements
+  rospy.loginfo('   Processing input bagfile: %s', inbag)
+  rospy.loginfo('  Writing to output bagfile: %s', outbag)
+  rospy.loginfo('               Replacements: %s', replacements)
 
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
     if topic in replacements:
         topic = replacements[topic]
     outbag.write(topic, msg, t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 def replacement(replace_string):
@@ -72,7 +72,7 @@ def replacement(replace_string):
   replacements = {}
   for topic, new_topic in args.replacement:
     replacements[topic] = new_topic
- 
+
   try:
     change_topics(args.inbag,args.outbag,replacements)
   except Exception, e:
diff --git a/bag_tools/scripts/bag_tools/check_delay.py b/bag_tools/scripts/bag_tools/check_delay.py
@@ -42,7 +42,7 @@
 def check_delay(inbags):
   delays = {}
   for inbag in inbags:
-    print '   Processing input bagfile: ', inbag
+    rospy.loginfo('   Processing input bagfile: %s', inbag)
     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
       if topic == "/tf":
         for transform in msg.transforms:
@@ -65,8 +65,7 @@ def check_delay(inbags):
     delay_list.sort()
     dmin, dmax, dmean = min(delay_list), max(delay_list), sum(delay_list)/len(delay_list)
     dmedian = delay_list[len(delay_list)/2]
-    print topic.ljust(max_len + 2), ": mean = ", dmean, ", min = ", dmin, ", max = ", dmax, ", median = ", dmedian
-
+    rospy.loginfo('%s : mean = %s, min = %s, max = %s, median = %s', topic.ljust(max_len + 2), dmean, dmin, dmax, dmedian)
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(
diff --git a/bag_tools/scripts/bag_tools/cut.py b/bag_tools/scripts/bag_tools/cut.py
@@ -41,24 +41,24 @@
 def cut(inbags, outbagfile, start, duration):
   start_time = rospy.Time.from_sec(999999999999)
   for inbag in inbags:
-    print '   Looking for smallest time in:', inbag
+    rospy.loginfo('   Looking for smallest time in: %s', inbag)
     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
       if t < start_time:
         start_time = t
       break
-  print '   Bagfiles start at', start_time
+  rospy.loginfo('   Bagfiles start at %s', start_time)
   start_time = start_time + rospy.Duration.from_sec(start)
   end_time = start_time + rospy.Duration.from_sec(duration)
-  print '   Cutting out from', start_time, 'to', end_time
+  rospy.loginfo('   Cutting out from %s to %s',start_time, end_time)
   outbag = rosbag.Bag(outbagfile, 'w')
   num_messages = 0
   for inbag in inbags:
-    print '   Extracting messages from:', inbag
+    rospy.loginfo('   Extracting messages from:', inbag
     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages(start_time=start_time, end_time=end_time):
       outbag.write(topic, msg, t)
       num_messages = num_messages + 1
   outbag.close()
-  print'    New output bagfile has', num_messages, 'messages'
+  rospy.loginfo('     New output bagfile has %s messages', num_messages)
 
 
 if __name__ == "__main__":
diff --git a/bag_tools/scripts/bag_tools/extract_topics.py b/bag_tools/scripts/bag_tools/extract_topics.py
@@ -40,15 +40,15 @@
 import argparse
 
 def extract_topics(inbag,outbag,topics):
-  print '   Processing input bagfile: ', inbag
-  print '  Writing to output bagfile: ', outbag
-  print '          Extracting topics: ', topics
+  rospy.loginfo('   Processing input bagfile: %s', inbag)
+  rospy.loginfo('  Writing to output bagfile: %s', outbag)
+  rospy.loginfo('          Extracting topics: %s', topics)
 
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
     if topic in topics:
       outbag.write(topic, msg, t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 if __name__ == "__main__":
diff --git a/bag_tools/scripts/bag_tools/image_sequence_publisher.py b/bag_tools/scripts/bag_tools/image_sequence_publisher.py
@@ -84,7 +84,7 @@ def playback_images(image_dir,file_pattern,camera_info_file,publish_rate):
     frequency = rospy.get_param("~frequency", 10)
     playback_images(image_dir, file_pattern, camera_info_file, frequency)
   except KeyError as e:
-    print 'Required parameter missing:', e
+    rospy.logerr('Required parameter missing: %s', e)
   except Exception, e:
     import traceback
     traceback.print_exc()
diff --git a/bag_tools/scripts/bag_tools/make_video.py b/bag_tools/scripts/bag_tools/make_video.py
@@ -40,24 +40,24 @@
 import shutil
 
 def create_video(tmp_dir, args):
-  print "Using {} as working directory.".format(tmp_dir)
-  print "Extracting images..."
+  rospy.loginfo('Using {} as working directory.'.format(tmp_dir))
+  rospy.loginfo('Extracting images...')
 
   cmd = ["rosrun", "bag_tools", "extract_images" , tmp_dir, "jpg", args.topic] + args.inbag
-  print "    {}".format(' '.join(cmd))
+  rospy.loginfo('    {}'.format(' '.join(cmd)))
   subprocess.call(cmd)
-  
-  print "Renaming..."
+
+  rospy.loginfo("Renaming...")
   images = glob.glob(tmp_dir + '/*.jpg')
   images.sort()
   i = 1
   for image in images:
     shutil.move(image, tmp_dir + '/img-' + str(i) + '.jpg')
     i = i + 1
 
-  print "Creating video..."
+  rospy.loginfo('Creating video...')
   cmd = ["ffmpeg", "-f", "image2", "-r", str(args.fps), "-i", tmp_dir + "/img-%d.jpg", "-sameq", args.output]
-  print "    {}".format(' '.join(cmd))
+  rospy.loginfo('    {}'.format(' '.join(cmd)))
   subprocess.call(cmd)
 
 
@@ -80,5 +80,5 @@ def create_video(tmp_dir, args):
   except Exception, e:
     import traceback
     traceback.print_exc()
-  print "Cleaning up temp files..."
+  rospy.loginfo('Cleaning up temp files...')
   shutil.rmtree(tmp_dir)
diff --git a/bag_tools/scripts/bag_tools/remove_tf.py b/bag_tools/scripts/bag_tools/remove_tf.py
@@ -40,9 +40,9 @@
 import argparse
 
 def remove_tf(inbag,outbag,frame_ids):
-  print '   Processing input bagfile: ', inbag
-  print '  Writing to output bagfile: ', outbag
-  print '         Removing frame_ids: ', ' '.join(frame_ids)
+  rospy.loginfo('   Processing input bagfile: %s', inbag)
+  rospy.loginfo('  Writing to output bagfile: %s', outbag)
+  rospy.loginfo('         Removing frame_ids: %s', ' '.join(frame_ids))
 
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
@@ -53,7 +53,7 @@ def remove_tf(inbag,outbag,frame_ids):
                   new_transforms.append(transform)
           msg.transforms = new_transforms
       outbag.write(topic, msg, t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 if __name__ == "__main__":
diff --git a/bag_tools/scripts/bag_tools/replace_msg_time_with_hdr.py b/bag_tools/scripts/bag_tools/replace_msg_time_with_hdr.py
@@ -40,8 +40,8 @@
 import argparse
 
 def rpl_msg_time_with_hdr(inbag,outbag):
-  print 'Processing input bagfile : ', inbag
-  print 'Writing to output bagfile : ', outbag
+  rospy.loginfo('Processing input bagfile  : %s', inbag)
+  rospy.loginfo('Writing to output bagfile : %s', outbag)
   outbag = rosbag.Bag(outbag,'w')
   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
     # This also replaces tf timestamps under the assumption 
@@ -50,7 +50,7 @@ def rpl_msg_time_with_hdr(inbag,outbag):
       outbag.write(topic, msg, msg.transforms[0].header.stamp)
     else:
       outbag.write(topic, msg, msg.header.stamp if msg._has_header else t)
-  print 'Closing output bagfile and exit...'
+  rospy.loginfo('Closing output bagfile and exit...')
   outbag.close();
 
 if __name__ == "__main__":
diff --git a/launch_tools/package.xml b/launch_tools/package.xml
@@ -15,6 +15,7 @@
   <build_depend>rospy</build_depend>
   <build_depend>roslib</build_depend>
   <run_depend>rospy</run_depend>
+  <run_depend>xdot</run_depend>
   <run_depend>roslib</run_depend>
 
-</package>
+</package>
diff --git a/launch_tools/scripts/launch_tools/launchViz.py b/launch_tools/scripts/launch_tools/launchViz.py
@@ -42,8 +42,8 @@
     from xml.etree import ElementTree
     import roslib.packages
 except ImportError:
-    # Checks the installation of the necessary python modules 
-    print((os.linesep * 2).join(["An error found importing one module:",
+    # Checks the installation of the necessary python modules
+    rospy.loginfo((os.linesep * 2).join(["An error found importing one module:",
     str(sys.exc_info()[1]), "You need to install it", "Stopping..."]))
     sys.exit(-2)
 
@@ -53,7 +53,7 @@ def find_launchfiles(directory, pattern='*.launch'):
             if fnmatch.fnmatch(basename, pattern):
                 filename = os.path.join(root, basename)
                 yield root, basename, filename
-      
+
 def check_launchfiles(directory, pattern='*.launch'):
     for root, dirs, files in os.walk(directory):
         for basename in files:
@@ -86,7 +86,7 @@ def start_subgraph(g,boxname):
 
 def write_information(g,node_name,node_args=0):
     if node_args==0:
-        for name in node_name: 
+        for name in node_name:
             g.write('"{0}_node" [shape=Mrecord,label="{0}",style="filled",fillcolor="khaki"]\n'.format(name))
     else:
         g.write('"{0}" [shape=none, margin=0, label=<\n'.format(node_name))
@@ -97,14 +97,13 @@ def write_information(g,node_name,node_args=0):
             for (arg, arg_def) in node_args:
                 g.write('<tr><td ALIGN="LEFT" BGCOLOR="lemonchiffon">{0} = {1}</td></tr>\n'.format(arg,arg_def))
         g.write('</table>>];\n')
-    
 
 def write_connection(g,origin,destination, isNode=False):
     if not isNode:
         g.write('    "{0}" -> "{1}"\n'.format(origin,destination))
     elif isNode:
         g.write('    "{0}" -> "{1}_node"\n'.format(origin,destination))
-  
+
 def get_args_from_parser():
     parser = argparse.ArgumentParser(description='Draws graph from launchfiles')
     parser.add_argument('--pkg', metavar='package', help='ROS packages you want to inspect',nargs='+')
@@ -157,19 +156,17 @@ def draw_folder(g,folder):
                         else:
                             node_nodes.append(node_type)
 
-                
                 write_information(g,node_name,node_args)
                 write_information(g,node_nodes)
                 for dest in node_nodes:
                     write_connection(g,node_name,dest,True)
                 for dest in node_includes:
                     write_connection(g,node_name,dest)
             except ElementTree.ParseError:
-                print "Error parsing {}".format(filepath)
-
+                rospy.loginfo("Error parsing {}".format(filepath))
         return g
     else:
-        print "[W]\tNo launchfile was found in {0}".format(os.path.basename(folder))
+        rospy.loginfo("[W]\tNo launchfile was found in {0}".format(os.path.basename(folder)))
 
 def xml_process(packages = 0):
     g = prepare_file()
@@ -181,7 +178,7 @@ def xml_process(packages = 0):
           directory = roslib.packages.get_pkg_dir(pkg)
           draw_folder(g,directory)
     return g
-    
+
 def main():
     args = get_args_from_parser()
     g = xml_process(args.pkg)
diff --git a/launch_tools/scripts/launch_tools/services_timer.py b/launch_tools/scripts/launch_tools/services_timer.py
