added prefix verb and filter

README.md

@@ -19,6 +19,7 @@ ros2bag_tools adds verb extensions to the ros2bag cli.
 | plot    | plot message data to a new window, see [plot](#plot) |
 | process | chain multiple filters, see [chaining](#chaining) |
 | **prune** | remove topics without messages |
+| **prefix** | add a fixed prefix to all topics inside a bag file |
 | **reframe** | change frame_id on messages with headers |
 | **rename**  | change name of a topic |
 | **replace** | replace messages of a specific topic with message data specified in a yaml file |

ros2bag_tools/ros2bag_tools/filter/prefix.py

@@ -0,0 +1,43 @@
+# Copyright 2021 AIT Austrian Institute of Technology GmbH
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2bag_tools.filter import FilterExtension
+
+
+class PrefixAppendFilter(FilterExtension):
+
+    def __init__(self):
+        self._topic = None
+        self._new_name = None
+
+    def add_arguments(self, parser):
+        parser.add_argument('-p', '--prefix', help='prefix to add')
+        # parser.add_argument('--name', required=True, help='new name to set')
+
+    def set_args(self, _metadata, args):
+        self._prefix = args.prefix
+
+    def _add_prefix(self, topic_name):
+        return f"{self._prefix}{topic_name}"
+
+    def filter_topic(self, topic_metadata):
+        # if topic_metadata.name == self._topic:
+
+        topic_metadata.name = self._add_prefix(topic_metadata.name)
+        return topic_metadata
+
+    def filter_msg(self, msg):
+        (topic, data, t) = msg
+
+        return (self._add_prefix(topic), data, t)

ros2bag_tools/ros2bag_tools/verb/prefix.py

@@ -0,0 +1,23 @@
+# Copyright 2021 AIT Austrian Institute of Technology GmbH
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2bag_tools.filter.prefix import PrefixAppendFilter
+from ros2bag_tools.verb import FilterVerb
+
+
+class PrefixVerb(FilterVerb):
+    """Rename specific topics in a bag, and write to new bag."""
+
+    def __init__(self):
+        FilterVerb.__init__(self, PrefixAppendFilter())

ros2bag_tools/setup.py

@@ -39,6 +39,7 @@
             'export = ros2bag_tools.verb.export:ExportVerb',
             'extract = ros2bag_tools.verb.extract:ExtractVerb',
             'plot = ros2bag_tools.verb.plot:PlotVerb',
+            'prefix = ros2bag_tools.verb.prefix:PrefixVerb',
             'prune = ros2bag_tools.verb.prune:PruneVerb',
             'reframe = ros2bag_tools.verb.reframe:ReframeVerb',
             'rename = ros2bag_tools.verb.rename:RenameVerb',
@@ -55,6 +56,7 @@
             'drop = ros2bag_tools.filter.drop:DropFilter',
             'extract = ros2bag_tools.filter.extract:ExtractFilter',
             'image = ros2bag_tools.filter.image:ImageFilter',
+            'prefix = ros2bag_tools.filter.prefix:PrefixAppendFilter',
             'prune = ros2bag_tools.filter.prune:PruneFilter',
             'reframe = ros2bag_tools.filter.reframe:ReframeFilter',
             'rename = ros2bag_tools.filter.rename:RenameFilter',