ROSE - Yet Another ROS Bag Filter Tool

A high-performance ROS bag filtering tool that allows you to extract specific topics from ROSv1 bag files. Built with C++ core and Python interface, it provides both command-line and TUI interfaces for efficient bag file processing.

inspired by rosbag_editor

Aesthetic

The cassette tape, a modest analog artifact, has evolved into a retro-futurism icon, demonstrating that technological advancement can coexist with human touch. Its tactile interface and physical limitations serve as poignant reminders of our technological heritage.

磁带盒不仅是一种技术遗物，更是复古未来主义的艺术品和精神图腾。简单的按钮、褪色的塑料外壳和有限的存储容量，既是怀旧的载体，也是对数字霸权的温柔反抗。它时刻提醒着我们：技术的突飞猛进不应该以牺牲人性为代价，克制的设计往往更能打动人心。

The TUI embraces the cassette futurism aesthetic - a design philosophy that reimagines future interfaces through the lens of 20th century technological fossils. This intentional retrofuturism features:

• Nostalgic minimalism: Low-resolution displays and monochromatic schemes that evoke 1980s computing
• Tactile authenticity: Visual metaphors of physical media like magnetic tapes and CRT textures
• Humanized technology: Warm color palettes and "imperfect" interfaces that resist digital sterility

More than mere retro styling, this approach serves as poetic resistance to digital hegemony. The cassette tape - our central metaphor - embodies this duality:

Key Features and Todos

• 🎉 ROS Environment independent using rosbags
• 🌟 Interactive TUI for easy operation
• 🌟 Command-line interface for automation
• 🌟 Interactive CLI for guided operations
• Filter ROS bag files
  • 🌟 with whitelists
  • with manually selected topics
  • by time range (only TUI tested)
• 🌟 Fuzzy search topic in TUI
• 🌟 Multi-selection mode for batch processing in TUI (note:partially supported, rename and time range based filtering not supported yet)
  • 🌟 parallel processing for Multi-selection mode
• Docker support for cross-platform usage
• 🌟 cassette futurism theme for dark and light mode
• 🚧 Message view in TUI
• 🚧 Support dynamic file/whitelist refresh in TUI

Getting Started

Installation

1. Install rose-bag from pypi

pip install rose-bag

2. Install from the source

# Clone the repository
git clone https://github.com/hanxiaomax/rose.git
cd rose

# Install dependencies
pip install -r requirements.txt

To uninstall Rose, run the following command:

pip uninstall rose-bag

Terminal Setup

To ensure proper color display in your terminal, set the following environment variable:

# Add this to your bashrc or zshrc
export TERM=xterm-256color

No ROS bag file? No problem! Download webviz demo.bag and give it a try!

Usage

Command Line Interface

Inline CLI

Rose provides a command-line tool for direct bag file operations. Currently, it supports the filter command:

# Basic usage for single file
rose filter <input_bag> <output_bag> [OPTIONS]

# Basic usage for directory
rose filter <input_directory> <output_directory> [OPTIONS]

Parameters:

• <input_bag/directory>: Path to the input bag file or directory containing bag files (required)
• <output_bag/directory>: Path to the output bag file (for single file) or directory (required for directory input)

Options:

• -w, --whitelist TEXT: Specify a topic whitelist file path
• -t, --topics TEXT: Specify topics to include, can be used multiple times to add multiple topics
• -p, --parallel: Process files in parallel when input is a directory
• --workers INTEGER: Number of parallel workers (default: CPU count - 2)
• --dry-run: Preview the operation without actually executing it
• --help: Show help information

Usage Examples:

1. Filter a single bag file using a whitelist:

   rose filter input.bag output.bag -w whitelist.txt

2. Filter specific topics from a single file:

   rose filter input.bag output.bag -t /topic1 -t /topic2 -t /topic3

3. Process all bag files in a directory:

   rose filter input_dir/ output_dir/ -w whitelist.txt

4. Process directory with parallel execution:

   rose filter input_dir/ output_dir/ -w whitelist.txt --parallel

5. Preview filtering results without execution:

   rose filter input.bag output.bag -w whitelist.txt --dry-run

Interactive CLI

For a guided experience with interactive prompts:

# Launch the interactive CLI tool
rose cli

The interactive CLI provides:

• Menu-driven interface for bag file operations
• Guided workflow for filtering and whitelist management
• Batch processing capabilities for multiple files
• Progress indicators and detailed results

Key features:

• Load single bag files or entire directories
• Select topics with fuzzy search
• Create, view, and manage whitelists
• Process multiple files in batch mode

Single Bag Processing

Multi-Bag Processing

TUI Interface

Important

If you experience color display issues in your terminal, set the following environment variable:

export TERM=xterm-256color

This ensures proper color rendering in both CLI and TUI interfaces.

For a full-featured terminal user interface:

# Launch the TUI
rose tui

Key bindings:

• q: to quit
• f: to filter bag files
• w: to load whitelist
• s: to save whitelist
• a: to toggle select all topics

Configuration

Rose is configured with roseApp/config.json.

{
    "show_splash_screen": true,
    "theme": "cassette-walkman",
    "whitelists": {
        "demo": "./whitelists/demo.txt",
        "radar": "./whitelists/radar.txt",
        "invalid": "./whitelists/invalid.txt"
    }
}

• show_splash_screen: whether to show the splash screen, default is true
• theme: the theme of the TUI, default is cassette-walkman, check Theme for more details
• whitelists: the whitelists of the TUI, default is empty, check Whitelist for more details

Theme

RoseApp TUI provides two built-in themes: cassette-walkman (default light theme) and cassette-dark. You can configure the theme in two ways:

cassette-walkman	cassette-dark

1. Modify config.json to specify your preferred theme:

{
    "theme": "cassette-dark",
}

2. Switch Theme in TUI with command palette(the buttom in bottom right corner or keybinding ^p)

Whitelist

You can filter bag files with pre-configured whitelist. To select pre-configured whitelists, press w in TUI. But before that, you need to create your own whitelist.

You can create your own whitelist in 3 ways:

1. Create topic whitelist with your favorite text editor and save it to whitelist/:

2. Create whitelist with interactive cli and choose 2. whitelist:

rose cli

3. Create topic in TUI by press s to save current selected topics as whitelist file to whitelist/ directory:

you can create/view/delete whitelists

After whitelist created, add it to config.json so RoseApp can find it:

{
    "whitelists": {
        "demo": "./whitelists/demo.txt",
        "radar": "./whitelists/radar.txt",
        "invalid": "./whitelists/invalid.txt"
    }
}

Development

Run locally

python -m roseApp.rose --help

Publishing to PyPI

To publish a new version to PyPI:

1. Update version in pyproject.toml
2. Install required tools:

pip install keyring keyrings.alt

3. Configure PyPI credentials:

# Using environment variables
export HATCH_INDEX_USER=__token__
export HATCH_INDEX_AUTH=your_pypi_token

# Or using hatch config
hatch config set pypi.auth.username __token__
hatch config set pypi.auth.password your_pypi_token

4. Build and publish:

# Build the package
hatch build

# Publish to PyPI
hatch publish

Project Structure

project_root/
├── roseApp/                # Python application
│   ├── rose.py             # Main entry script
│   ├── cli/                # CLI tools
│   │   ├── cli_tool.py     # Interactive CLI implementation
│   │   ├── theme.py        # CLI theme and color configuration
│   │   └── <inline-cmd>.py # Command-line commands implementation
│   ├── core/               # Core functionality
│   │   ├── parser.py       # Bag file parser
│   │   └── util.py         # Utility functions and logging
│   ├── tui/                # TUI components
│   │   ├── tui.py          # Main TUI application
│   │   └── components/     # Custom widgets
│   │   ├── config.json     # Configuration file
│   │   ├── themes/         # TUI themes
│   │   └── style.tcss          # TUI style sheet
│   ├── whitelists/         # Topic whitelist folder
│   │   └── *.txt           # Whitelist files
├── docker/                 # Docker support
│   ├── Dockerfile
│   └── go_docker.sh
├── docs/                   # Documentation
├── pyproject.toml          # Project metadata and dependencies
├── requirements.txt        # Development dependencies
└── README.md               # Project documentation

Tech stack

• Textual: A Python framework for building sophisticated TUI applications. Used for creating the interactive terminal interface.
• Rich: A Python library for rich text and beautiful formatting in the terminal. Used for enhancing the visual presentation in both CLI and TUI.
• InquirerPy: A Python library for building interactive command line interfaces with elegant prompts. Used for the interactive CLI.
• Typer: A Python library for building CLI applications. Used for building the inline command-line interface.
• rosbags: A pure Python library for reading and writing ROS bag files. Used for ROS bag file processing without ROS dependencies.

Rough ideas - data driven rendering

Tip

Before you start with Textual, there are some docs worth reading:

• Textual devtools on how to use textual run <your app> --dev to go into dev mode and how to handle logs
• Design a layout 、TextualCSS and CSS Types to understand how to design a layout and style your app with CSS. and more tips on Styles and its reference
• Event and Messages are also important ideas to understand how Textual works so you can handle actions
• Thanks to Workers, asynchronous operations never been so easy. it can supppot asyncio or threads.

Resources

• Demo bag file: webviz demo.bag