- Generated on Sat Feb 14 2026 16:03:24 for grepros by
1.9.8
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grepros 1.3.0
grep for ROS bag files and live topics
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Functions | |
| grep (args=None, **kwargs) | |
| init (args=None, **kwargs) | |
| sink (args=None, **kwargs) | |
| source (args=None, **kwargs) | |
grepros library interface.
Source classes:
- {@link grepros.inputs.AppSource AppSource}: produces messages from iterable or pushed data
- {@link grepros.inputs.BagSource BagSource}: produces messages from ROS bagfiles
- {@link grepros.inputs.LiveSource LiveSource}: produces messages from live ROS topics
Sink classes:
- {@link grepros.outputs.AppSink AppSink}: provides messages to callback function
- {@link grepros.outputs.BagSink BagSink}: writes messages to bagfile
- {@link grepros.outputs.ConsoleSink ConsoleSink}: prints messages to console
- {@link grepros.plugins.auto.csv.CsvSink CsvSink}: writes messages to CSV files, each topic to a separate file
- {@link grepros.plugins.auto.html.HtmlSink HtmlSink}: writes messages to an HTML file
- {@link grepros.outputs.LiveSink LiveSink}: publishes messages to ROS topics
- {@link grepros.plugins.mcap.McapSink McapSink}: writes messages to MCAP file
- {@link grepros.outputs.MultiSink MultiSink}: combines any number of sinks
- {@link grepros.plugins.parquet.ParquetSink ParquetSink}: writes messages to Apache Parquet files
- {@link grepros.plugins.auto.postgres.PostgresSink PostgresSink}: writes messages to a Postgres database
- {@link grepros.plugins.auto.sqlite.SqliteSink SqliteSink}: writes messages to an SQLite database
- {@link grepros.plugins.sql.SqlSink SqlSink}: writes SQL schema file for message type tables and topic views
{@link grepros.api.BaseBag Bag}: generic bag interface.
{@link grepros.search.Scanner Scanner}: ROS message grepper.
Format-specific bag classes:
- {@link grepros.ros1.ROS1Bag ROS1Bag}: ROS1 bag reader and writer in .bag format
- {@link grepros.ros2.ROS2Bag ROS2Bag}: ROS2 bag reader and writer in .db3 SQLite format
- {@link grepros.plugins.embag.EmbagReader EmbagReader}: ROS1 bag reader
using the <a href="https://github.com/embarktrucks/embag">embag</a> library
- {@link grepros.plugins.mcap.McapBag McapBag}: ROS1/ROS2 bag reader and writer in MCAP format
Output sink `write_options` arguments can be given with underscores
instead of dashes, e.g. `"rollover_size"` instead of `"rollover-size"`.
------------------------------------------------------------------------------
This file is part of grepros - grep for ROS bag files and live topics.
Released under the BSD License.
@author Erki Suurjaak
@created 09.12.2022
@modified 22.03.2024
------------------------------------------------------------------------------
| grep | ( | args = None, |
|
| ** | kwargs | ||
| ) |
Yields matching messages from specified source.
Initializes grepros if not already initialized.
Read from bagfiles: `grep(file="2022-10-*.bag", pattern="cpu")`.
Read from live topics: `grep(live=True, pattern="cpu")`.
@param args arguments as namespace or dictionary, case-insensitive;
or a single path as the ROS bagfile to read,
or one or more {@link grepros.api.Bag Bag} instances,
or a {@link grepros.inputs.Source Source} instance
@param kwargs any and all arguments as keyword overrides, case-insensitive
<!--sep-->
Bag source:
@param args.file names of ROS bagfiles to read if not all in directory
@param args.path paths to scan if not current directory
@param args.recurse recurse into subdirectories when looking for bagfiles
@param args.decompress decompress archived bags to file directory
@param args.reindex make a copy of unindexed bags and reindex them (ROS1 only)
@param args.orderby "topic" or "type" if any to group results by
@param args.timescale emit messages on original timeline from first message
at given rate, 0 disables
@param args.timescale_emission start timeline from first matched message not first in bag
@param args.bag one or more {@link grepros.api.Bag Bag} instances
<!--sep-->
Live source:
@param args.live whether reading messages from live ROS topics
@param args.queue_size_in subscriber queue size (default 10)
@param args.ros_time_in stamp messages with ROS time instead of wall time
<!--sep-->
App source:
@param args.app whether reading messages from iterable or pushed data;
may contain the iterable itself
@param args.iterable iterable yielding (topic, msg, stamp) or (topic, msg);
yielding `None` signals end of content
Any source:
@param args.topic ROS topics to read if not all
@param args.type ROS message types to read if not all
@param args.skip_topic ROS topics to skip
@param args.skip_type ROS message types to skip
@param args.start_time earliest timestamp of messages to read
@param args.end_time latest timestamp of messages to read
@param args.start_index message index within topic to start from
@param args.end_index message index within topic to stop at
@param args.nth_message read every Nth message in topic, starting from first
@param args.nth_interval minimum time interval between messages in topic,
as seconds or ROS duration
@param args.select_field message fields to use in matching if not all
@param args.noselect_field message fields to skip in matching
@param args.unique emit messages that are unique in topic
(select_field and noselect_field apply if specified)
@param args.condition Python expressions that must evaluate as true
for message to be processable, see ConditionMixin
<!--sep-->
Search‍:
@param args.pattern pattern(s) to find in message field values
@param args.fixed_string pattern contains ordinary strings, not regular expressions
@param args.case use case-sensitive matching in pattern
@param args.invert select messages not matching pattern
@param args.expression pattern(s) are a logical expression
like 'this AND (this2 OR NOT "skip this")',
with elements as patterns to find in message fields
@param args.nth_match emit every Nth match in topic, starting from first
@param args.max_count number of matched messages to emit (per file if bag input)
@param args.max_per_topic number of matched messages to emit from each topic
@param args.max_topics number of topics to print matches from
@param args.before number of messages of leading context to emit before match
@param args.after number of messages of trailing context to emit after match
@param args.context number of messages of leading and trailing context
to emit around match
@param args.highlight highlight matched values
@param args.match_wrapper string to wrap around matched values,
both sides if one value, start and end if more than one,
or no wrapping if zero values
@return {@link grepros.Scanner.GrepMessage GrepMessage} namedtuples
of (topic, message, timestamp, match, index)
Definition at line 70 of file library.py.
| init | ( | args = None, |
|
| ** | kwargs | ||
| ) |
Initializes ROS version bindings, loads all built-in plugins if dependencies available.
@param args
@param args.plugin one or more extra plugins to load,
as full names or instances of Python module/class
@param kwargs any and all arguments as keyword overrides, case-insensitive
Definition at line 348 of file library.py.
| sink | ( | args = None, |
|
| ** | kwargs | ||
| ) |
Convenience for creating a {@link grepros.outputs.Sink Sink} instance from arguments,
{@link grepros.outputs.MultiSink MultiSink} if several outputs.
Initializes grepros if not already initialized.
@param args arguments as namespace or dictionary, case-insensitive;
or a single item as sink target like bag filename
@param kwargs any and all arguments as keyword overrides, case-insensitive
@param args.app provide messages to given callback function
@param args.console print matches to console
@param args.publish publish matches to live topics
@param args.write file or other target like Postgres database to write,
as "target", or ["target", dict(format="format", ..)]
or [[..target1..], [..target2..], ..]
@param args.write_options format-specific options like
{"overwrite": whether to overwrite existing file
(default false)}
<!--sep-->
Console sink:
@param args.line_prefix print source prefix like bag filename on each message line
@param args.max_field_lines maximum number of lines to print per field
@param args.start_line message line number to start output from
@param args.end_line message line number to stop output at
@param args.max_message_lines maximum number of lines to output per message
@param args.lines_around_match number of message lines around matched fields to output
@param args.matched_fields_only output only the fields where match was found
@param args.wrap_width character width to wrap message YAML output at
@param args.match_wrapper string to wrap around matched values,
both sides if one value, start and end if more than one,
or no wrapping if zero values
<!--sep-->
Console / HTML sink:
@param args.color False or "never" for not using colors in replacements
@param args.highlight highlight matched values (default true)
@param args.emit_field message fields to emit if not all
@param args.noemit_field message fields to skip in output
@param args.max_field_lines maximum number of lines to output per field
@param args.start_line message line number to start output from
@param args.end_line message line number to stop output at
@param args.max_message_lines maximum number of lines to output per message
@param args.lines_around_match number of message lines around matched fields to output
@param args.matched_fields_only output only the fields where match was found
@param args.wrap_width character width to wrap message YAML output at
@param args.match_wrapper string to wrap around matched values,
both sides if one value, start and end if more than one,
or no wrapping if zero values
<!--sep-->
Topic sink:
@param args.queue_size_out publisher queue size (default 10)
@param args.publish_prefix output topic prefix, prepended to input topic
@param args.publish_suffix output topic suffix, appended to output topic
@param args.publish_fixname single output topic name to publish to,
overrides prefix and suffix if given
<!--sep-->
App sink:
@param args.emit callback(topic, msg, stamp, highlighted msg, index in topic)
if any
@param args.metaemit callback(metadata dict) if any,
invoked before first emit from source batch
<!--sep-->
Any sink:
@param args.meta whether to print metainfo
@param args.verbose whether to print debug information
Definition at line 257 of file library.py.
| source | ( | args = None, |
|
| ** | kwargs | ||
| ) |
Convenience for creating a {@link grepros.inputs.Source Source} instance from arguments.
Initializes grepros if not already initialized.
@param args arguments as namespace or dictionary, case-insensitive;
or a single path as the ROS bagfile to read
@param kwargs any and all arguments as keyword overrides, case-insensitive
@param args.file one or more names of ROS bagfiles to read from
@param args.live read messages from live ROS topics instead
@param args.app read messages from iterable or pushed data instead;
may contain the iterable itself
<!--sep-->
Bag source:
@param args.file names of ROS bagfiles to read if not all in directory
@param args.path paths to scan if not current directory
@param args.recurse recurse into subdirectories when looking for bagfiles
@param args.orderby "topic" or "type" if any to group results by
@param args.decompress decompress archived bags to file directory
@param args.reindex make a copy of unindexed bags and reindex them (ROS1 only)
@param args.timescale emit messages on original timeline from first message
at given rate, 0 disables
@param args.timescale_emission start timeline from first matched message not first in bag
@param args.progress whether to print progress bar
<!--sep-->
Live source:
@param args.queue_size_in subscriber queue size (default 10)
@param args.ros_time_in stamp messages with ROS time instead of wall time
@param args.progress whether to print progress bar
<!--sep-->
App source:
@param args.iterable iterable yielding (topic, msg, stamp) or (topic, msg);
yielding `None` signals end of content
<!--sep-->
Any source:
@param args.topic ROS topics to read if not all
@param args.type ROS message types to read if not all
@param args.skip_topic ROS topics to skip
@param args.skip_type ROS message types to skip
@param args.start_time earliest timestamp of messages to read
@param args.end_time latest timestamp of messages to read
@param args.start_index message index within topic to start from
@param args.end_index message index within topic to stop at
@param args.unique emit messages that are unique in topic
@param args.select_field message fields to use for uniqueness if not all
@param args.noselect_field message fields to skip for uniqueness
@param args.nth_message read every Nth message in topic, starting from first
@param args.nth_interval minimum time interval between messages in topic,
as seconds or ROS duration
@param args.condition Python expressions that must evaluate as true
for message to be processable, see ConditionMixin
Definition at line 188 of file library.py.
1.9.8