The BagGetFilter package is a simple and user friendly interface to manipulate rosbag. Thanks to it, the user can play rosbags or filter and export topics in CSV format from them.
If you want to update this package, you will need several libraries:
- pyqt5
- pexcept
- ros kinetic
- python 2.7
- pyinstaller
If you want to use it as a tool, you won't need any library and you will just have to use the executable.
To install it, clone the BagGetFilter's remote repository in your computer.
git clone http://192.168.1.101/AVL-Summer-18/BagGetFilter
The executable of the BagGetFilter is located in the dist repository. To run it, navigate to the dist repository and type the command:
./BagGetFilter
Then a window will appear:
To load a bag file into the application, drag and drop the bag icon from the area on the left to the blank area on the right. Warning, the drag and drop system isn't really sensitive so if it's not working the first time, just try several times. It is also possible to load multiples bags at the same time by keeping the "CTRL" or "SHIFT" key pressed and drag and drop mutliples items.
All the topics of the bags will be displayed in the blank area. The clipboard area of the bags will be also populated with some roslaunch commands. The user will be able to see it by clicking on the "Show Clipboard" button. By the way, the button "Clear Bags" is useful to flush the bags currently loaded in the application:
In order to select some topics just keep the "CTRL" or "SHIFT" key pressed and click on them.
To manipulate the bags, differents options are availables:
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Play the bags by clicking on the "Play the bag" button
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Creating csv files of the selected topics by clicking on the "Save selected topics to csv files" button. The files will be automatically named but the storage directory has to be specified.
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Creating news bag with only the selected topics by clicking on the "Save selected topics in a filtered bag" button. The files will be automatically named by keeping the same bag name and adding the suffix specified in the upper line. The storage directory must also be specified.
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If the user wants to manipulate several bags with the same topics content, he can activate the "Matching Bag/Topic Highlighting" checkbox. Then when he will select a topic in one bag, this topic will be automatically selected in all the others bags with the same topics contents.
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To load the new filtered bags just after their creation ensure that the "Load the new filtered bag" checkbox is activated.
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When the checkbox "Remove beginning and ending metadata from bag" is checked, the new filtered or timestamped bag will have his starting timestamp set to his first message's timestamp and his ending timestamp set to his last message's timestamp. If it is not checked, a topic called "/metadata" will be added to the new bag in order to keep the original start and end timestamp of the initial bag.
It is also possible to generate new bags with differents timestamps from the original one by double-clicking on the timestamped parameter of one bag and modifying it in the tree widget.
After clicking on the "play bag" button, the "play bag" window will appear.
Then, the user will be able to choose the bag that he wants to play between the previous loaded bag.
Before playing it, he can also specify different playing arguments.
While running the bag, the ouput informations will be shown in the plain text area. It is possible to pause the bag by clicking on the "Pause" button or to stop it definitely by clicking on the "Stop" button.
When the bag is paused, the user can also run it step by step by clicking on the "Step" button or resume it or stop it.
