Add new directory containing python parser ros

python_parser_ros/display_topics.py

+
+
+import os 
+import argparse
+#La bibliothèque permettant de lire les fichiers rosbag (ROS1 Noetic)
+from bagpy import bagreader
+import pandas as pd
+import shutil
+
+def save_rosbags_topics(file_name : str, directory :  str):
+	
+	"""
+	This function export all the informations from the ROSBAG into a csv file
+	which contains the topics, the variable types, the number of samples and the frequency
+	samples. The most interesting part it is the topic name inorder to extract all the data 
+	saved in this topic
+	"""
+	if(directory not in os.listdir()): 
+		os.mkdir(directory)
+	else: 
+		shutil.rmtree(directory)
+		os.mkdir(directory)
+
+	for content in file_name: 
+
+		content_split = content.split("/")[-1]
+		
+		#Case when you specify the directory containing the rosbags files or read directory the file
+		b = bagreader(content)
+		df_topics = b.topic_table
+		df_topics.to_csv(os.path.join(directory,content_split[:-5]+'.csv'))
+		print("Save the topics in csv format : {} and the name is {}".format(directory,content_split[:-5]+'.csv'))
+
+if __name__ == "__main__":
+	
+	parser = argparse.ArgumentParser(description="Export all topics into a csv format")
+	parser.add_argument('filenames' , type=str , nargs='+' , help='Can support read one or multplies bagfile')
+	parser.add_argument('-d' , '--output_directory' , help='Folder Name to export all csv topics files')
+
+
+	args = parser.parse_args()
+	save_rosbags_topics(args.filenames , args.output_directory)
+	
+	

python_parser_ros/save_topics_format.py

+from scipy.io import savemat
+from bagpy import bagreader
+import bagpy
+import pandas as pd
+import os 
+import argparse
+import shutil
+
+
+def convert_topics_to_file(files , topics , directory):
+  
+  if(directory not in os.listdir()):
+    os.mkdir(directory)
+  else:
+    shutil.rmtree(directory)
+    os.mkdir(directory)
+
+  for file  in files:
+    b = bagreader(file)
+   
+    for topic in topics: 
+      try:
+
+        data_frame_string = b.message_by_topic(topic)
+        data_frame= pd.read_csv(data_frame_string)
+        file_split = file.split('/')[-1][:-4]
+        if(file_split not in os.listdir(directory)):
+          os.mkdir(os.path.join(directory , file_split))
+        else:
+          shutil.rmtree(os.path.join(directory , file_split))
+          os.mkdir(os.path.join(directory , file_split))
+
+        data_frame.to_csv(os.path.join(directory , file_split , file_split+'.csv'))
+        print("Convert the topic {} to a csv format in the directory {}".format(topic , os.path.join(directory , file_split)))
+        data_mat = data_frame.to_dict('list')
+        topic_name = topic.replace('/' , '_')
+        savemat(os.path.join(directory , file_split , file_split+'.mat') , data_mat)
+        print("Convert the topic {} to a matlab format in the directory {}".format(topic , os.path.join(directory , file_split+'.mat')))
+
+
+      except Exception as e: 
+
+        print('Unable to read the topic or other probles ... {}'.format(e))
+
+
+
+if __name__ == "__main__": 
+
+  parser = argparse.ArgumentParser(description="Export all topics into a csv format or matlab format")
+
+  parser.add_argument('files' , nargs='+' , type=str , help="Read the rosbag files")
+  parser.add_argument('-t', '--topics' , nargs='+' , help="Read different topics save to the rosbags")
+  parser.add_argument('-d' , '--directory_output' , help="Save the output data" )
+
+  args = parser.parse_args()
+  print(args.files , args.topics , args.directory_output)
+
+  convert_topics_to_file(args.files , args.topics , args.directory_output)
+
+      
+
+
+
+
+
+
+
+