Record bags script

scripts/rosbag_record.py

@@ -0,0 +1,40 @@
+import os
+import argparse
+import rostopic
+
+if __name__ == '__main__':
+    ap = argparse.ArgumentParser()
+
+    # Parameters
+    ap.add_argument('-t', '--topics', nargs='+', type=str, required=True, help='List topics to record')
+    ap.add_argument('-o', '--outfile', nargs=1, type=str, required=True, help='Output filename')
+
+    args = ap.parse_args()
+
+    # Check if bag output name exists
+    while(f"{args.outfile[0]}.bag" in os.listdir()):
+        args.outfile[0] = input("Filename already exists. Please change the name: ")
+
+    # Check if roscore is running
+    rosIsRunning = False
+
+    while(not rosIsRunning):
+        input("Press enter to start recording...")
+
+        try:
+            rostopic.get_topic_class('/rosout')
+            rosIsRunning = True
+        except rostopic.ROSTopicIOException as e:
+            rosIsRunning = False
+            print("Roscore needs to be active.")
+
+    # Create list of topics for command line
+    topicList = ""
+
+    for topics in args.topics:
+        topicList += topics + " "
+
+    print("Press CTRL+C to stop recording...")
+
+    # Start recosbag recording
+    os.system(f"rosbag record -O {args.outfile[0]}.bag {topicList}")