apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
"""Example: Edit timestamps."""
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from __future__ import annotations
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from typing import TYPE_CHECKING, cast
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from rosbags.interfaces import ConnectionExtRosbag2
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from rosbags.rosbag2 import Reader, Writer
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from rosbags.serde import deserialize_cdr, serialize_cdr
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if TYPE_CHECKING:
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from pathlib import Path
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def offset_timestamps(src: Path, dst: Path, offset: int) -> None:
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"""Offset timestamps.
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Args:
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src: Source path.
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dst: Destination path.
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offset: Amount of nanoseconds to offset timestamps.
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"""
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with Reader(src) as reader, Writer(dst) as writer:
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conn_map = {}
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for conn in reader.connections:
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ext = cast(ConnectionExtRosbag2, conn.ext)
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conn_map[conn.id] = writer.add_connection(
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conn.topic,
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conn.msgtype,
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ext.serialization_format,
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ext.offered_qos_profiles,
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)
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for conn, timestamp, data in reader.messages():
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# Adjust header timestamps, too
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msg = deserialize_cdr(data, conn.msgtype)
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if head := getattr(msg, 'header', None):
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headstamp = head.stamp.sec * 10**9 + head.stamp.nanosec + offset
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head.stamp.sec = headstamp // 10**9
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head.stamp.nanosec = headstamp % 10**9
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data = serialize_cdr(msg, conn.msgtype)
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writer.write(conn_map[conn.id], timestamp + offset, data)
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