50 lines
2.1 KiB
Python
Executable File
50 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python
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import rospy
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from std_msgs.msg import String
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import rospkg
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import subprocess
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import os
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import signal
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class Bagger(object):
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def __init__(self):
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rospy.init_node("bagger", anonymous=True)
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rospy.Subscriber("bag_publisher", String, self.callback)
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self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
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self.proc = None
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rospack = rospkg.RosPack()
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self.data_path = os.path.join(rospack.get_path("rosbridge_gui_example"), "data")
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def callback(self, msg):
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if msg.data == "STOP" and self.proc is not None:
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os.killpg(self.proc.pid, signal.SIGINT)
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self.pub.publish("STOPPED")
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else:
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msg_data = msg.data.split()
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self.pub.publish(str(len(msg_data)))
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self.pub.publish(str(msg_data))
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if len(msg_data) == 0: # We only got the name of the bag file and not any topics
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bag_file_name = os.path.join(self.data_path, "bag_file")
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self.proc = subprocess.Popen(["rosbag", "record",
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"--all", "-o", bag_file_name], preexec_fn=os.setsid)
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self.pub.publish("STARTED")
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elif len(msg_data) == 1: # We only got the name of the bag file and not any topics
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bag_file_name = os.path.join(self.data_path, msg_data)
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self.proc = subprocess.Popen(["rosbag", "record",
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"--all", "-o", bag_file_name], preexec_fn=os.setsid)
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self.pub.publish("STARTED")
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else: #we posibly have a bag file name and a list of topics
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if msg_data[0].startswith("/"): #then we know there is no bag file name
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msg_data = ["bagfile"] + msg_data
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msg_data[0] = os.path.join(self.data_path, msg_data[0])
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processList = ["rosbag", "record", "-o"] + msg_data
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self.pub.publish(" ".join(processList))
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self.proc = subprocess.Popen( processList, preexec_fn=os.setsid)
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self.pub.publish("STARTED")
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if __name__ == '__main__':
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Bagger()
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rospy.spin()
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