How can i use my own rosbag version

asked 2013-02-06 20:16:05 -0600

Josch
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Hi,

I need to be able to set the duration for a rosbag play command. This feature is not implemented in rosbag yet, there is a pull request though.

Since I need this feature now I would either have to stop the rosbag play process at an given time or I would have to implement it in my own rosbag branch. When I am using my own rosbag branch I will also have to install this custom branch on other computers which will use my package.

Is there a nice way to do any of this?

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answered 2013-03-01 15:15:01 -0600

Dirk Thomas
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You can checkout the rosbag package into a catkin workspace, make arbitrary changes to it and than build the workspace with "catkin_make". After that you source the setup.bash from that workspace instead of /opt/ros/groovy and your version of rosbag overlays the installed one.

This is how you can override any catkin package in ROS.

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answered 2013-02-06 22:47:38 -0600

dornhege

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Maybe I misunderstood, what you want to do, but I don't really see a way out of your problem. As long as your pull request isn't processed, there is not other way than actually using a custom version wherever you need it.

For your specific problem there is a solution though. If you only want to play a bag file for a certain time, you can create a new bag file that only contains data up to that time. A standard rosbag play would then do the right thing. rosbag filter is what you are looking for.

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My application should preferably run in real time. So if it would create a filtered bag first it would need some time. The bags I will use are about 1-3 hours long, rosbag filter needs some time then.

Josch ( 2013-02-11 20:19:46 -0600 )edit

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answered 2013-02-25 19:36:06 -0600

Josch
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I figured out a way to stop processes after X millseconds have passed. My software is calling rosbag play via a QProcess. As soon as the desired runtime is exceeded the QProcess is killed. Not the nicest way, but it's working just fine.

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