frost

rosbag + rust = frost

Read rosbags using Rust. Supports custom types via code-generation.

As a binary

frost info ./examples/read_bag/fixtures/test.bag
# or, if you are building from source:
cargo run --release --bin frost -- info ./examples/read_bag/fixtures/test.bag

path:        ./examples/read_bag/fixtures/test.bag
version:     2.0
duration:    99s
start:       2022-10-16 20:40:59.000001 UTC (1665952859.000001)
end:         2022-10-16 20:42:38.000100 UTC (1665952958.000100)
size:        11.53 KiB (11808 bytes)
messages:    200
compression: lz4 [1/1 chunks; 18.53%]
types:       std_msgs/Float64MultiArray [4b7d974086d4060e7db4613a7e6c3ba4]
             std_msgs/String            [992ce8a1687cec8c8bd883ec73ca41d1]
topics:      /array          100 msgs : std_msgs/Float64MultiArray
             /chatter        100 msgs : std_msgs/String

There are more commands than the standard rosbag info, such as the info --minimal subcommand, which will leave out the types and topics. Or, the topics command, which will just print the topics in the bag:

frost topics ./examples/read_bag/fixtures/test.bag

/array
/chatter

And, the types command:

frost types ./examples/read_bag/fixtures/test.bag

std_msgs/Float64MultiArray
std_msgs/String

Why use this over the normal rosbag info?

Speed:

This program is around 4x to 120x+ faster (larger the bag, faster the speedup). On a compressed 25GB bag, the vanilla rosbag can take 20+ minutes, while frost returns in less than ~10 seconds.

More commands

The topics and types commands allow you to see the information you need without extra noise that info provides

---

Installation

• Copy the binary URL from the Releases page.
• In a terminal:

wget <URL> -O frost
chmod +x frost
sudo mv frost /usr/local/bin # or elsewhere
frost --help # check if it's in your path

Building from source

Note: if you do not have Rust or Cargo installed, follow the guide here.

cargo install --all-features --git https://github.com/dantheman3333/frost.git frost 

Optional Build Features:

frost has some optional features for the binary. If you wish to not include them, remove the --all-features flag for cargo install.

• color
  • enables colors in the help menu
  • if you build with colors enabled but wish to disable them, you can set the env var NO_COLOR=1

Autocomplete Setup:

If you would like to set up bash auto-completion for frost arguments, run:

frost --bpaf-complete-style-bash >> ~/.bash_completion
source ~/.bash_completion

Or, for zsh (untested):

frost --bpaf-complete-style-zsh > ~/.zsh/_frost
source ~/.zsh/_frost

---

As a library

When using it as a library, code-generation is required to convert ros .msg files to Rust structs. See the full example and code-generation steps here.

  let bag = DecompressedBag::from(bag_path).unwrap();

  let query = Query::all();
  let count = bag.read_messages(&query).unwrap().count();
  assert_eq!(count, 200);

  for msg_view in bag.read_messages(&query).unwrap() {
      match msg_view.topic {
          "/chatter" => {
              let msg = msg_view.instantiate::<std_msgs::String>().unwrap();
              // because frost has ros msg -> rust struct generation,
              // you can safely access your data with the correct rust types: 
              // `msg.data` is a `std::String` so you have access to `starts_with`
              assert!(msg.data.starts_with("foo_"))
          }
          "/array" => {
              let msg = msg_view
                  .instantiate::<std_msgs::Float64MultiArray>()
                  .unwrap();
              assert_eq!(msg.data, vec![0f64, 0f64, 0f64]);
          }
          &_ => {}
      }
  }

  let query = Query::new().with_topics(&["/chatter"]);
  let count = bag.read_messages(&query).unwrap().count();
  assert_eq!(count, 100);

TODO

• reading bz2-compressed bags with read_messages
  • frost info/topics command line works with all compression modes and lz4-compressed bags works with read_messages
• default values in ros msgs
• a frost echo command
• bag writing