Rosbag recover tool (#806)

* recover bags when something goes wrong

* fixing comments

tools/bag_processing/readme.md

@@ -87,6 +87,11 @@ Verify correctness of a ROS bag, as output by rosbag_fix_all.py. This
 performs some simple checks that are not part of the standard "rosbag
 check".
 
+## rosbag_recover
+In case a bag recording is corrupted. This script will split the bag into topics,
+run the rosbag_fixall on each individual topic, and merge them. This way, the worst
+that can happen is partially losing one topic.
+
 # Utilities
 
 ## utilities/bmr_renumber_enum

tools/bag_processing/scripts/rosbag_recover.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The Astrobee platform is 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.
+"""
+Partially recover bagfiles when corruption happens
+"""
+
+
+import argparse
+import os
+import re
+import string
+import subprocess
+import sys
+
+import yaml
+
+
+def recover_bag(input_bag):
+
+    # Execute the rosbag info command
+    command = ["rosbag", "info", "-y", "-k", "topics", input_bag]
+    result = subprocess.run(
+        command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
+    )
+
+    # Check for errors
+    if result.returncode != 0:
+        print(f"Error running rosbag info: {result.stderr}")
+        return []
+
+    # Parse the YAML output
+    topics_info = yaml.safe_load(result.stdout)
+
+    # Process the topics into the desired format
+    topic_names = [topic["topic"] for topic in topics_info]
+    print(topic_names)
+
+    topic_bags = []
+    base_name, ext = os.path.splitext(input_bag)
+    for topic in topic_names:
+        out_bag_topic = base_name + "." + topic.replace("/", "_") + ext
+        command = [
+            "rosrun",
+            "localization_node",
+            "merge_bags",
+            input_bag,
+            "-output_bag",
+            out_bag_topic,
+            "-save_topics",
+            topic,
+        ]
+        result = subprocess.run(
+            command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
+        )
+
+        # Check for errors
+        if result.returncode != 0:
+            print(f"Error splitting bag into topics: {result.stderr}")
+            return []
+
+        command = ["rosrun", "bag_processing", "rosbag_fix_all.py", out_bag_topic]
+        result = subprocess.run(
+            command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
+        )
+        # Check for errors
+        if result.returncode != 0:
+            print(f"Error running rosbag fixall on individual topics: {result.stderr}")
+            return []
+
+        topic_bags.append(base_name + "." + topic.replace("/", "_") + ".fix_all" + ext)
+
+    out_bag = base_name + ".recovered" + ext
+    command = (
+        ["rosrun", "localization_node", "merge_bags"]
+        + topic_bags
+        + ["-output_bag", out_bag]
+    )
+    result = subprocess.run(
+        command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
+    )
+
+    # Check for errors
+    if result.returncode != 0:
+        print(f"Error merging bags: {result.stderr}")
+        return []
+
+    command = ["rosrun", "bag_processing", "rosbag_fix_all.py", out_bag]
+    result = subprocess.run(
+        command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
+    )
+
+    # Check for errors
+    if result.returncode != 0:
+        print(f"Error running rosbag fixall on merged bag: {result.stderr}")
+        return []
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description=__doc__, formatter_class=argparse.ArgumentDefaultsHelpFormatter
+    )
+    parser.add_argument(
+        "input_bag",
+        default="",
+        help="Input bag name.",
+    )
+
+    args = parser.parse_args()
+
+    recover_bag(args.input_bag)