API review

Proposer: Jeremy Leibs

Present at review:

• List reviewers

Proposed command-line APIs

rosbag record

Usage: rosbag record TOPIC1 [TOPIC2 TOPIC3 ...]

Record a bag file with the contents of specified topics.

Options:
  -h, --help            show this help message and exit
  -a, --all             record all topics
  -q, --quiet           suppress console output
  -p PREFIX, --prefix=PREFIX
                        append PREFIX to beginning of bag name (name will
                        always end with date stamp)
  -n NAME, --name=NAME  record to bag with namename NAME.bag
  -z, --gzip            compress the message with gzip
  -j, --bzip            compress the message with bzip2
  -b SIZE, --buffsize=SIZE
                        use in internal buffer of SIZE MB (Default: 256, 0 =
                        infinite)
  -l NUM, --limit=NUM   only record NUM messages on each topic

rosbag play

Usage: rosbag play BAGFILE1 [BAGFILE2 BAGFILE3 ...]

Play back the contents of one or more bag files in a time-synchronized
fashion.

Options:
  -h, --help            show this help message and exit
  -q, --quiet           suppress console output
  -i, --immediate       play back all messages without waiting
  --pause               start in paused mode
  --queue=SIZE          use an outgoign queue of size SIZE (defaults to 0)
  --frequency=HZ        publish the log time at a frequency of HZ (default:
                        100)
  -d SEC, --delay=SEC   Sleep SEC seconds after every advertise call (to allow
                        subscribers to connect).
  -r FACTOR, --rate=FACTOR
                        multiply the publish rate by FACTOR
  -s TIME, --start=TIME
                        start TIME seconds into the bag files

rosbag info

Usage: rosbag info BAGFILE

Summarize the contents of a bag file.

Options:
  -h, --help  show this help message and exit

Returns bag information in YAML format:

bag: 2009-12-16-10-49-50.bag
version: 1.2
start_time: 1260989391943123000
end_time: 1260989403343135999
length: 11400012999
topics:
  - name: /bar
    count: 58
    datatype: std_msgs/String
    md5sum: 992ce8a1687cec8c8bd883ec73ca41d1

rosbag check

Usage: rosbag check BAG [-g RULEFILE] [EXTRARULES1 EXTRARULES2 ...]

Options:
  -h, --help            show this help message and exit
  -g RULEFILE, --genrules=RULEFILE
                        Generate a rulefile named RULEFILE.
  -a, --append          Append to the end of an existing rulefile after
                        loading it.
  -n, --noplugins       Do not load rulefiles via plugins.

Proposed programmatic APIs

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Jeremy

• Would -o and -O (output) possibly make more sense than -p/-f` for record file syntax?

• Should -f-equivalent append .bag/.gz for you or not? What should behavior of -f foo.bag be? What about -zf foo.bag. Or worse: -zf foo.bag.bz2.

• How hard should we work to avoid re-using options between different commands? For example -p to pause in rosplay but -p for prefix in rosrecord. Or -a is all in record but -a is append in check.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved