Overview

Using ROS tools like rosrecord and rosplay, users can record and playback bag files containing ROS messages. For diagnostics bag files, we use tools in the diagnostic_analysis package to convert these bag files into CSV files. The export_csv.py tool converts these bag files into CSV files, with a separate CSV file for each diagnostics_msgs/DiagnosticStatus name. These CSV files can be analyzed with off-the-shelf spreadsheet software.

Larger bag files can be too large for common spreadsheet software (which support at most 65,536 rows). For large files, sparse_csv.py can thin or convert these files into smaller CSV files for analysis.

Non-Diagnostics Bagfiles

If you have any messages that aren't on the "/diagnostics" topic, they will be discarded.

Discarding message on topic: /turtle1/pose
Discarding message on topic: /turtle1/color_sensor
Discarding message on topic: /turtle1/pose
Discarding message on topic: /turtle1/color_sensor

The PR2 diagnostics toolchain uses diagnostic_msgs/DiagnosticArray messages on the "/diagnostics" topic, which is what this package is designed for. Only bag files of this type will work with the diagnostic_analysis package. To play other bag files, use rostopic.

Command-line Tools

export_csv.py

export_csv.py [bag-files]...

• Convert bag file(s) to CSV representation. By default, this will output the CSV file to the output/log_filename directory, e.g.:

  $ rosrun diagnostic_analysis export_csv.py <bagfilename>

-d OUTPUT_DIR

• Change the output directory. For example:

  rosrun diagnostic_analysis export_csv.py file.bag -d my_dir

  will store the results in the "my_dir/output" directory.

Each "name" in the diagnostic status messages will have its own file. This means you'll see one file for the Power Board, another for EtherCAT Master, etc...

sparse_csv.py

sparse_csv.py <csv-file> -m (--max)

• Shrink CSV file to a maximum of 65,000 rows. This assists with fitting within Excel limit of 65,536 rows. This will retain every nth line as necessary to reduce the CSV row length. For example:

  $ rosrun diagnostic_analysis sparse_csv.py my_bagfile.csv -m

sparse_csv.py <csv-file> -l LENGTH (--length)

• Shrink CSV file to specified row length by skipping every nth line as necessary.

sparse_csv.py <csv-file> -s SKIP (--skip)

• Shrink CSV file by skipping every SKIP lines.

Tutorials