/usr/lib/rosbag/fix_msg_defs.py is in python-rosbag 1.11.16-3.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 | #!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import sys
import rosbag.migration
if __name__ == '__main__':
if len(sys.argv) != 3:
print('usage: fix_msg_defs.py <inbag> <outbag>')
exit(2)
mm = rosbag.migration.MessageMigrator()
checked = set()
migrations = []
inbag = rosbag.Bag(sys.argv[1], 'r')
outbag = rosbag.Bag(sys.argv[2], 'w')
lookup_cache = {}
#msg is: datatype, data, pytype._md5sum, bag_pos, pytype
for topic, msg, t in inbag.read_messages(raw=True):
if msg[4]._md5sum != msg[2]:
k = (msg[0], msg[2])
if k in lookup_cache:
real_msg_type = lookup_cache[k]
else:
real_msg_type = mm.lookup_type(k)
if real_msg_type != None:
print("FOUND: %s [%s] was defined in migration system\n"%(msg[0], msg[2]), file=sys.stderr)
else:
systype = roslib.message.get_message_class(msg[0])
if systype != None and systype._md5sum == msg[2]:
real_msg_type = systype
print("FOUND: %s [%s] was defined on your package path\n"%(msg[0], msg[2]), file=sys.stderr)
if real_msg_type == None:
real_msg_type = msg[4]
print("WARNING: Type [%s] with md5sum [%s] has an unknown definition.\n"%(msg[0], msg[2]), file=sys.stderr)
lookup_cache[k] = real_msg_type
outbag.write(topic, (msg[0], msg[1], msg[2], msg[3], real_msg_type), t, raw=True)
else:
outbag.write(topic, msg, t, raw=True)
inbag.close()
outbag.close()
exit(0)
|