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https://github.com/iamphytan/rosbag-topic-remove
PyPi package to remove ROS topics from rosbags
https://github.com/iamphytan/rosbag-topic-remove
data-management robotics ros ros2 rosbag
Last synced: 15 days ago
JSON representation
PyPi package to remove ROS topics from rosbags
- Host: GitHub
- URL: https://github.com/iamphytan/rosbag-topic-remove
- Owner: IamPhytan
- License: mit
- Created: 2022-11-11T21:18:58.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-10-28T12:17:13.000Z (3 months ago)
- Last Synced: 2025-01-20T12:52:13.168Z (17 days ago)
- Topics: data-management, robotics, ros, ros2, rosbag
- Language: Python
- Homepage: https://pypi.org/project/rosbag-topic-remove
- Size: 32.2 KB
- Stars: 3
- Watchers: 2
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Changelog: changelog.rst
- License: LICENSE
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README
# rosbag-topic-remove
> Filter out topics from a rosbag
## Use case
Say you have too much topics in a rosbag (ROS1 or ROS2) and that you want to keep a copy of this rosbag without data from a specific sensor. `rosbag-topic-remove` will :
* Filter out topics based on their name
* Filter out topics based on [glob](https://en.wikipedia.org/wiki/Glob_(programming))-like wildcard patterns
* Preserve your original rosbag
## Installation
`rosbag-topic-remove` can be installed from PyPi :
```console
pip install rosbag-topic-remove
```
## Usage
`rosbag-topic-remove` can be used both as a command line application and in Python code.
### Command line
A basic use of `rosbag-topic-remove` is to simply call it from the command line.
```console
rosbag-topic-remove /path/to/rosbag -t /topic/to_delete
rosbag-topic-remove /path/to/rosbag -t *sensor*
```
Here are all the CLI options of `rosbag-topic-remove`:
```console
$ rosbag-topic-remove -h
usage: rosbag-topic-remove [-h] [-o OUTBAG] [-t TOPICS [TOPICS ...]] [-f]
inbag
positional arguments:
inbag Input bag
options:
-h, --help show this help message and exit
-o OUTBAG, --output OUTBAG, --outbag OUTBAG
Filtered bag
-t TOPICS [TOPICS ...], --topics TOPICS [TOPICS ...]
Topics to remove from the rosbag
-f, --force Force output file overwriting
```
### Python Code API
You can also call `rosbag-topic-remove` directly into your Python code :
```py
from rosbag_topic_remove import BagTopicRemover
data_path = "path/to/a/rosbag.bag" # ROS1
data_path = "path/to/a/rosbag" # ROS2
rbag_rem = BagTopicRemover(data_path)
# Change the input bag
rbag_rem.inbag = "path/to/another/rosbag"
# Remove /cmd_vel
rbag_rem.remove("/cmd_vel")
# Remove /cmd_vel
rbag_rem.remove("/cmd_vel")
# Remove all camera info topics
rbag_rem.remove("/*/camera_info")
# Remove all topics from the IMU and from the GPS
rbag_rem.remove(("/imu/*", "/gps/*"))
# Export a rosbag with all topics filtered
rbag_rem.export("path/to/save/this/filtered/rosbag.bag") # ROS1
rbag_rem.export("path/to/save/that/filtered/rosbag") # ROS2
```
## Contributing
Pull requests are welcome and don't hesitate to open issues
(Recommended) [flit](https://flit.pypa.io) is used to package this module. Development packages can be installed using `flit` :
```console
python -m venv venv
source venv/bin/activate
pip install flit
flit install
```
(Alternative) Development requirements can be installed using pip :
```console
python -m venv venv
source venv/bin/activate
pip install -r requirements/requirements-dev.txt
```
## Acknowledgements
This package relies strongly on [`rosbags`](https://ternaris.gitlab.io/rosbags) for working with rosbags. Hats off to the team at [Ternaris](https://ternaris.com) for developing and maintaining it.
## License
This project is licensed under a [MIT](LICENSE) license