Add include filters to rosbag conversion

src/rosbags/convert/__main__.py

@@ -50,12 +50,20 @@ def main() -> None:
         type=pathtype(exists=False),
         help='destination path for converted rosbag',
     )
-    parser.add_argument(
+    topic_group = parser.add_argument_group('filtering').add_mutually_exclusive_group()
+    topic_group.add_argument(
         '--exclude-topic',
         action='append',
         default=[],
         dest='exclude_topics',
-        help='exclude topic by name',
+        help='topic to exclude from conversion, even if included explicitly',
+    )
+    topic_group.add_argument(
+        '--include-topic',
+        action='append',
+        default=[],
+        dest='include_topics',
+        help='topic to include in conversion, instead of all',
     )
 
     args = parser.parse_args()

src/rosbags/convert/converter.py

@@ -99,13 +99,19 @@ def downgrade_connection(rconn: Connection) -> Connection:
     )
 
 
-def convert_1to2(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
+def convert_1to2(
+    src: Path,
+    dst: Path,
+    exclude_topics: Sequence[str],
+    include_topics: Sequence[str],
+) -> None:
     """Convert Rosbag1 to Rosbag2.
 
     Args:
         src: Rosbag1 path.
         dst: Rosbag2 path.
-        exclude_topics: Topics to skip.
+        exclude_topics: Topics to exclude from conversion, even if included explicitly.
+        include_topics: Topics to include in conversion, instead of all.
 
     Raises:
         ConverterError: If all connections are excluded.
@@ -114,7 +120,10 @@ def convert_1to2(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
     with Reader1(src) as reader, Writer2(dst) as writer:
         typs: dict[str, Any] = {}
         connmap: dict[int, Connection] = {}
-        connections = [x for x in reader.connections if x.topic not in exclude_topics]
+        connections = [
+            x for x in reader.connections
+            if x.topic not in exclude_topics and (not include_topics or x.topic in include_topics)
+        ]
         if not connections:
             raise ConverterError('No connections left for conversion.')
         for rconn in connections:
@@ -143,13 +152,19 @@ def convert_1to2(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
             writer.write(connmap[rconn.id], timestamp, data)
 
 
-def convert_2to1(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
+def convert_2to1(
+    src: Path,
+    dst: Path,
+    exclude_topics: Sequence[str],
+    include_topics: Sequence[str],
+) -> None:
     """Convert Rosbag2 to Rosbag1.
 
     Args:
         src: Rosbag2 path.
         dst: Rosbag1 path.
-        exclude_topics: Topics to skip.
+        exclude_topics: Topics to exclude from conversion, even if included explicitly.
+        include_topics: Topics to include in conversion, instead of all.
 
     Raises:
         ConverterError: If all connections are excluded.
@@ -157,7 +172,10 @@ def convert_2to1(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
     """
     with Reader2(src) as reader, Writer1(dst) as writer:
         connmap: dict[int, Connection] = {}
-        connections = [x for x in reader.connections if x.topic not in exclude_topics]
+        connections = [
+            x for x in reader.connections
+            if x.topic not in exclude_topics and (not include_topics or x.topic in include_topics)
+        ]
         if not connections:
             raise ConverterError('No connections left for conversion.')
         for rconn in connections:
@@ -186,13 +204,19 @@ def convert_2to1(src: Path, dst: Path, exclude_topics: Sequence[str]) -> None:
             writer.write(connmap[rconn.id], timestamp, data)
 
 
-def convert(src: Path, dst: Optional[Path], exclude_topics: Sequence[str] = ()) -> None:
+def convert(
+    src: Path,
+    dst: Optional[Path],
+    exclude_topics: Sequence[str] = (),
+    include_topics: Sequence[str] = (),
+) -> None:
     """Convert between Rosbag1 and Rosbag2.
 
     Args:
         src: Source rosbag.
         dst: Destination rosbag.
-        exclude_topics: Topics to skip.
+        exclude_topics: Topics to exclude from conversion, even if included explicitly.
+        include_topics: Topics to include in conversion, instead of all.
 
     Raises:
         ConverterError: An error occured during reading, writing, or
@@ -206,7 +230,7 @@ def convert(src: Path, dst: Optional[Path], exclude_topics: Sequence[str] = ())
     func = convert_1to2 if upgrade else convert_2to1
 
     try:
-        func(src, dst, exclude_topics)
+        func(src, dst, exclude_topics, include_topics)
     except (ReaderError1, ReaderError2) as err:
         raise ConverterError(f'Reading source bag: {err}') from err
     except (WriterError1, WriterError2) as err:

tests/test_convert.py

@@ -42,7 +42,12 @@ def test_cliwrapper(tmp_path: Path) -> None:
     with patch('rosbags.convert.__main__.convert') as cvrt, \
          patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]):
         main()
-    cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=None, exclude_topics=[])
+    cvrt.assert_called_with(
+        src=tmp_path / 'ros1.bag',
+        dst=None,
+        exclude_topics=[],
+        include_topics=[],
+    )
 
     with patch('rosbags.convert.__main__.convert') as cvrt, \
          patch.object(sys, 'argv', ['cvt',
@@ -68,7 +73,12 @@ def test_cliwrapper(tmp_path: Path) -> None:
                                     '--dst',
                                     str(tmp_path / 'target')]):
         main()
-    cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=tmp_path / 'target', exclude_topics=[])
+    cvrt.assert_called_with(
+        src=tmp_path / 'ros1.bag',
+        dst=tmp_path / 'target',
+        exclude_topics=[],
+        include_topics=[],
+    )
 
     with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]), \
          patch('builtins.print') as mock_print, \
@@ -80,7 +90,12 @@ def test_cliwrapper(tmp_path: Path) -> None:
     with patch('rosbags.convert.__main__.convert') as cvrt, \
          patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]):
         main()
-    cvrt.assert_called_with(src=tmp_path / 'subdir', dst=None, exclude_topics=[])
+    cvrt.assert_called_with(
+        src=tmp_path / 'subdir',
+        dst=None,
+        exclude_topics=[],
+        include_topics=[],
+    )
 
     with patch('rosbags.convert.__main__.convert') as cvrt, \
          patch.object(sys, 'argv', ['cvt',
@@ -97,7 +112,12 @@ def test_cliwrapper(tmp_path: Path) -> None:
                                     '--dst',
                                     str(tmp_path / 'target.bag')]):
         main()
-    cvrt.assert_called_with(src=tmp_path / 'subdir', dst=tmp_path / 'target.bag', exclude_topics=[])
+    cvrt.assert_called_with(
+        src=tmp_path / 'subdir',
+        dst=tmp_path / 'target.bag',
+        exclude_topics=[],
+        include_topics=[],
+    )
 
     with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]), \
          patch('builtins.print') as mock_print, \
@@ -112,7 +132,12 @@ def test_cliwrapper(tmp_path: Path) -> None:
                                     '--exclude-topic',
                                     '/foo']):
         main()
-    cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=None, exclude_topics=['/foo'])
+    cvrt.assert_called_with(
+        src=tmp_path / 'ros1.bag',
+        dst=None,
+        exclude_topics=['/foo'],
+        include_topics=[],
+    )
 
 
 def test_convert_1to2(tmp_path: Path) -> None: