rosbag_to_csv.py 文件源码

def bag_to_csv(options, fname):
    try:
        bag = rosbag.Bag(fname)
        streamdict= dict()
        stime = None
        if options.start_time:
            stime = rospy.Time(options.start_time)
        etime = None
        if options.end_time:
            etime = rospy.Time(options.end_time)
    except Exception as e:
        rospy.logfatal('failed to load bag file: %s', e)
        exit(1)

    try:
        for topic, msg, time in bag.read_messages(topics=options.topic_names,
                                                  start_time=stime,
                                                  end_time=etime):
            if streamdict.has_key(topic):
                stream = streamdict[topic]
            else:
                stream = open(format_csv_filename(options.output_file_format, fname[fname.rfind('/'):-4]+topic),'w')
                streamdict[topic] = stream
                # header
                if options.header:
                    stream.write("time")
                    message_type_to_csv(stream, msg)
                    stream.write('\n')

            stream.write(datetime.fromtimestamp(time.to_time()).strftime('%Y/%m/%d/%H:%M:%S.%f'))
            message_to_csv(stream, msg, flatten=not options.header)
            stream.write('\n')
        [s.close for s in streamdict.values()]
    except Exception as e:
        rospy.logwarn("fail: %s", e)
    finally:
        bag.close()