rostopic: echo -p -b <bag> should print time from bag, not current time

[ablasdel]

The current time is of little real value when extracting messages from a bagfile, whereas the time returned from the bag is very appropriate.

I expect this is just the way it is since -b was added at a later point in time.

change history added (jan 8 2013): Changed 3 years ago by kwc ROS 1.1 trunk: https://code.ros.org/trac/ros/changeset/9996

migrated from trac ticket 3429: https://code.ros.org/trac/ros/ticket/3429

[ablasdel]

file changes in ROS 1.1 trunk

Index: stacks/ros/trunk/core/roslib/src/roslib/message.py
===================================================================
--- a/stacks/ros/trunk/core/roslib/src/roslib/message.py
+++ b/stacks/ros/trunk/core/roslib/src/roslib/message.py
@@ -150,5 +150,5 @@
 # we expose the generic message-strify routine for fn-oriented code like rostopic

-def strify_message(val, indent='', time_offset=None):
+def strify_message(val, indent='', time_offset=None, current_time=None):
     """
     convert value to string representation
@@ -160,4 +160,6 @@
     as deltas from  time_offset
     @type  time_offset: Time
+    @param current_time: currently not used. Only provided for API compatibility. current_time passes in the current time with respect to the message.
+    @type  current_time: Time
     """
     if type(val) in [int, long, float, str, bool]:

Index: stacks/ros/trunk/tools/rosmake/src/rosmake/rosmake.py
===================================================================
--- a/stacks/ros/trunk/tools/rosmake/src/rosmake/rosmake.py
+++ b/stacks/ros/trunk/tools/rosmake/src/rosmake/rosmake.py
@@ -95,5 +95,6 @@
             self.verbose = False
             self.full_verbose = False
-            self.duration = 1./60.
+            self.duration = 1./5.
+            self._last_status = None

             # Rosmake specific data
@@ -130,5 +131,7 @@
                     if n > 0:
                         status = " "*n + self.status
-                    self._print_status("%s"%status)
+                    if status != self._last_status:
+                        self._print_status("%s"%status)
+                        self._last_status = status
                 time.sleep(self.duration) 
             self.done = True
@@ -677,5 +680,5 @@
                           action="store_true", help="do not build a package unless it is marked as supported on this platform, and all dependents are also marked")
         parser.add_option("--status-rate", dest="status_update_rate",
-                          action="store", help="How fast to update the status bar in Hz.  Default: 60Hz")
+                          action="store", help="How fast to update the status bar in Hz.  Default: 5Hz")

Index: stacks/ros/trunk/tools/rostopic/src/rostopic.py
===================================================================
--- a/stacks/ros/trunk/tools/rostopic/src/rostopic.py
+++ b/stacks/ros/trunk/tools/rostopic/src/rostopic.py
@@ -417,5 +417,5 @@

-def _str_plot(val, time_offset=None):
+def _str_plot(val, time_offset=None, current_time=None):
     """
     convert value to matlab/octave-friendly CSV string representation.
@@ -424,4 +424,8 @@
     @param val: message
     @type  val: Message
+    @param current_time: current time to use if message does not contain its own timestamp.
+    @type  current_time: roslib.rostime.Time
+    @param time_offset: (optional) for time printed for message, print as offset against this time 
+    @type  time_offset: roslib.rostime.Time
     @return: comma-separated list of field values in val
     @rtype: str
@@ -435,6 +439,9 @@
         if getattr(val, "_has_header", False):
             return "%s,%s"%(val.header.stamp.to_nsec()-time_offset, s)
+        elif current_time is not None:
+            return "%s,%s"%(current_time.to_nsec()-time_offset, s)
         else:
             return "%s,%s"%(rospy.get_rostime().to_nsec()-time_offset, s)
+            

 #TODO: get rid of the ugly use of the _echo_nonostr and _echo_noarr
@@ -522,5 +529,5 @@
         self.last_msg_eval = None

-    def callback(self, data, topic):
+    def callback(self, data, topic, current_time=None):
         """
         Callback to pass to rospy.Subscriber or to call
@@ -530,5 +537,7 @@
         @type  data: Message    
         @param topic: topic name
-        @type  topic: str    
+        @type  topic: str
+        @param current_time: override calculation of current time
+        @type  current_time: roslib.rostime.Time
         """
         if self.filter_fn is not None and not self.filter_fn(data):
@@ -571,7 +580,7 @@

                 if self.offset_time:
-                    sys.stdout.write(self.sep+self.str_fn(data, time_offset=rospy.get_rostime()) + '\n')
+                    sys.stdout.write(self.sep+self.str_fn(data, time_offset=rospy.get_rostime(), current_time=current_time) + '\n')
                 else:
-                    sys.stdout.write(self.sep+self.str_fn(data) + '\n')
+                    sys.stdout.write(self.sep+self.str_fn(data, current_time=current_time) + '\n')

             #sys.stdout.flush()
@@ -606,10 +615,10 @@
         raise ROSTopicException("bag file [%s] does not exist"%bag_file)
     first = True
-    for t, msg, _ in rosrecord.logplayer(bag_file):
+    for t, msg, timestamp in rosrecord.logplayer(bag_file):
         # bag files can have relative paths in them, this respects any
         # dynamic renaming
         if t[0] != '/':
             t = roslib.scriptutil.script_resolve_name('rostopic', t)
-        callback_echo.callback(msg, t)
+        callback_echo.callback(msg, t, current_time=timestamp)
         # done is set if there is a max echo count
         if callback_echo.done: