grepros -r "my text"

grepros --max-per-topic 1 --lines-per-message 30 --live

grepros future -I --max-count 1 --name my.bag

grepros frame_id=map --type geometry_msgs/* --max-count 10 --reindex-if-unindexed

grepros "CPU usage" --type *DiagnosticArray --no-console-output --write my.bag

grepros key=0xA002 --topic *diagnostics --path /tmp

grepros --type diagnostic_msgs/* --select-field name message \
        --print-field header.stamp status.values -- navigation

ROS_MASTER_URI=http://1.2.3.4::11311 \
grepros --live --topic *lidar* --max-per-topic 1

grepros -n my.bag --write my.bag.sqlite --no-console-output --no-verbose --progress

grepros -n my.bag --write postgresql://user@host/dbname \
        --no-console-output --no-verbose --progress

pip install grepros

pip install rospy rosbag roslib roslz4 \
--extra-index-url https://rospypi.github.io/simple/

sudo apt install ros-noetic-grepros  # ROS1

sudo apt install ros-foxy-grepros    # ROS2

git clone https://github.com/suurjaak/grepros.git
cd grepros
catkin build --this

git clone https://github.com/suurjaak/grepros.git src/grepros
colcon build --packages-select grepros

-r
--recursive

--n        /tmp/*.bag
--filename my.bag 2021-11-*.bag

-p     /home/bags/2021-11-*
--path my/dir

--reindex-if-unindexed
--reindex-if-unindexed --progress

--decompress
--decompress --progress

--order-bag-by topic
--order-bag-by type

--no-console-output

--color always  (default)
--color auto    (auto-detect terminal support)
--color never   (disable colors)

--write path/to/my.bag [format=bag] [overwrite=true|false]

--live

--queue-size-in 100

--ros-time-in

--write path/to/my.csv [format=csv] [overwrite=true|false]

--write path/to/my.html [format=html] [overwrite=true|false]
        [template=/path/to/html.template]

--write path/to/my.html template=/my/html.template

--write postgresql://username@host/dbname [format=postgres]
        [commit-interval=NUM] [nesting=array|all]
        [dialect-file=path/to/dialects.yaml]

--write postgresql://username@host/dbname commit-interval=NUM

--write postgresql://username@host/dbname dialect-file=path/to/dialects.yaml

--write postgresql://username@host/dbname nesting=array

CREATE TABLE "diagnostic_msgs/DiagnosticArray" (
  "header.seq"          BIGINT,
  "header.stamp.secs"   INTEGER,
  "header.stamp.nsecs"  INTEGER,
  "header.frame_id"     TEXT,
  status                JSONB,       -- [_id from "diagnostic_msgs/DiagnosticStatus", ]
  _topic                TEXT,
  _timestamp            NUMERIC,
  _id                   BIGSERIAL,
  _parent_type          TEXT,
  _parent_id            BIGINT
);

CREATE TABLE "diagnostic_msgs/DiagnosticStatus" (
  level                 SMALLINT,
  name                  TEXT,
  message               TEXT,
  hardware_id           TEXT,
  "values"              JSONB,       -- [_id from "diagnostic_msgs/KeyValue", ]
  _topic                TEXT,        -- _topic from "diagnostic_msgs/DiagnosticArray"
  _timestamp            NUMERIC,     -- _timestamp from "diagnostic_msgs/DiagnosticArray"
  _id                   BIGSERIAL,
  _parent_type          TEXT,        -- "diagnostic_msgs/DiagnosticArray"
  _parent_id            BIGINT       -- _id from "diagnostic_msgs/DiagnosticArray"
);

CREATE TABLE "diagnostic_msgs/KeyValue" (
  "key"                 TEXT,
  value                 TEXT,
  _topic                TEXT,        -- _topic from "diagnostic_msgs/DiagnosticStatus"
  _timestamp            NUMERIC,     -- _timestamp from "diagnostic_msgs/DiagnosticStatus"
  _id                   BIGSERIAL,
  _parent_type          TEXT,        -- "diagnostic_msgs/DiagnosticStatus"
  _parent_id            BIGINT       -- _id from "diagnostic_msgs/DiagnosticStatus"
);

--write postgresql://username@host/dbname nesting=all

CREATE TABLE "std_msgs/Header" (
  seq                   BIGINT,
  "stamp.secs"          INTEGER,
  "stamp.nsecs"         INTEGER,
  frame_id              TEXT,
  _topic                TEXT,       -- _topic from "diagnostic_msgs/DiagnosticArray"
  _timestamp            NUMERIC,    -- _timestamp from "diagnostic_msgs/DiagnosticArray"
  _id                   BIGSERIAL,
  _parent_type          TEXT,       -- "diagnostic_msgs/DiagnosticArray"
  _parent_id            BIGINT      -- _id from "diagnostic_msgs/DiagnosticArray"
);

--write path/to/my.sqlite [format=sqlite] [overwrite=true|false]
        [commit-interval=NUM] [message-yaml=true|false] [nesting=array|all]
        [dialect-file=path/to/dialects.yaml]

--write path/to/my.sqlite commit-interval=NUM

--write path/to/my.sqlite message-yaml=false

--write path/to/my.sqlite dialect-file=path/to/dialects.yaml

--write path/to/my.sqlite nesting=array

CREATE TABLE "diagnostic_msgs/DiagnosticArray" (
  "header.seq"          INTEGER,
  "header.stamp.secs"   INTEGER,
  "header.stamp.nsecs"  INTEGER,
  "header.frame_id"     TEXT,
  -- [_id from "diagnostic_msgs/DiagnosticStatus", ]
  status                "DIAGNOSTIC_MSGS/DIAGNOSTICSTATUS[]",
  _topic                TEXT,
  _timestamp            INTEGER,
  _id                   INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
  _parent_type          TEXT,
  _parent_id            INTEGER
);

CREATE TABLE "diagnostic_msgs/DiagnosticStatus" (
  level                 SMALLINT,
  name                  TEXT,
  message               TEXT,
  hardware_id           TEXT,
  -- [_id from "diagnostic_msgs/KeyValue", ]
  "values"              "DIAGNOSTIC_MSGS/KEYVALUE[]",
  _topic                TEXT,        -- _topic from "diagnostic_msgs/DiagnosticArray"
  _timestamp            INTEGER,     -- _timestamp from "diagnostic_msgs/DiagnosticArray"
  _id                   INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
  _parent_type          TEXT,        -- "diagnostic_msgs/DiagnosticArray"
  _parent_id            INTEGER      -- _id from "diagnostic_msgs/DiagnosticArray"
);

CREATE TABLE "diagnostic_msgs/KeyValue" (
  "key"                 TEXT,
  value                 TEXT,
  _topic                TEXT,        -- _topic from "diagnostic_msgs/DiagnosticStatus"
  _timestamp            INTEGER,     -- _timestamp from "diagnostic_msgs/DiagnosticStatus"
  _id                   INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
  _parent_type          TEXT,        -- "diagnostic_msgs/DiagnosticStatus"
  _parent_id            INTEGER      -- _id from "diagnostic_msgs/DiagnosticStatus"
);

--write path/to/my.sqlite nesting=all

CREATE TABLE "std_msgs/Header" (
  seq                   UINT32,
  "stamp.secs"          INT32,
  "stamp.nsecs"         INT32,
  frame_id              TEXT,
  _topic                STRING,     -- _topic from "diagnostic_msgs/DiagnosticArray"
  _timestamp            INTEGER,    -- _timestamp from "diagnostic_msgs/DiagnosticArray"
  _id                   INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
  _parent_type          TEXT,       -- "diagnostic_msgs/DiagnosticArray"
  _parent_id            INTEGER     -- _id from "diagnostic_msgs/DiagnosticArray"
);

--publish

--publish-prefix  /myroot
--publish-suffix  /myend
--publish-fixname /my/singular/name

--queue-size-out 100

--lines-per-message 5

--lines-per-field 2

--start-line  2   # (1-based if positive
--end-line   -2   # (count back from total if negative)

--matched-fields-only

--lines-around-match 5

--print-field *data

--no-print-field header.stamp

--match-wrapper @@@
--match-wrapper "<<<<" ">>>>"

--wrap-width 120

cpu memory speed

frame_id=world

header.frame_id=.*

-F
--fixed-strings

-v
--invert-match

-I
--no-ignore-case

-m          100
--max-count 100

--max-topics 10

--max-per-topic 20

--every-nth-match 10  # (skips 9 matches in topic after each match emitted)

-t      *lidar* *ins*
--topic /robot/sensors/*

-nt        *lidar* *ins*
--no-topic /robot/sensors/*

-d     *Twist*
--type sensor_msgs/*

-nd       *Twist*
--no-type sensor_msgs/*

-sf            twist.linear
--select-field *data

-ns               twist.linear
--no-select-field *data

--unique-only

-t0          2021-11     # (using partial ISO datetime)
--start-time 1636900000  # (using UNIX timestamp)
--start-time +100        # (seconds from bag start time, or from script startup time if live input)
--start-time -100        # (seconds from bag end time, or script startup time if live input)

-t1        2021-11     # (using partial ISO datetime)
--end-time 1636900000  # (using UNIX timestamp)
--end-time +100        # (seconds from bag start time, or from script startup time if live input)
--end-time -100        # (seconds from bag end time, or from script startup time if live input)

-n0           -100  # (counts back from topic total message count in bag)
--start-index   10  # (1-based index)

-n1         -100  # (counts back from topic total message count in bag)
--end-index   10  # (1-based index)

--every-nth-message 10  # (skips 9 messages in topic with each step)

--every-nth-interval 5  # (samples topic messages no more often than every 5 seconds)

--condition "PYTHON EXPRESSION"

# (Match while last message in '/robot/enabled' has data=true)
--condition "<topic /robot/enabled>.data"

# (Match if at least 10 messages have been encountered in /robot/alerts)
--condition "len(<topic /robot/alerts>) > 10"

# (Match if last two messages in /robot/mode have equal .value)
--condition "<topic /robot/mode>[-2].value == <topic /robot/mode>[-1].value"

# (Match while control is enabled and robot is moving straight and level)
--condition "<topic */control_enable>.data and <topic */cmd_vel>.linear.x > 0 " \
            "and <topic */cmd_vel>.angular.z < 0.02"

--plugin some.python.module some.other.module.Class

--plugin grepros.plugins.embag

--plugin grepros.plugins.mcap

--plugin grepros.plugins.mcap \
--write path/to/my.mcap [format=mcap] [overwrite=true|false]

--plugin grepros.plugins.parquet \
--write path/to/my.parquet [format=parquet] [overwrite=true|false] \
        [column-name=rostype:value] [type-rostype=arrowtype] \
        [writer-argname=argvalue]

--write path/to/my.parquet column-bag_hash=string:26dfba2c

--write path/to/my.parquet type-time="timestamp('ns')"
--write path/to/my.parquet type-uint8[]="list(uint8())"

--write path/to/my.parquet type-time="timestamp('ns')" type-duration="duration('ns')"

--write path/to/my.parquet writer-argname=argvalue

--write path/to/my.parquet writer-compression=null

--plugin grepros.plugins.sql \
--write path/to/my.sql [format=sql] [overwrite=true|false] \
        [nesting=array|all] [dialect=clickhouse|postgres|sqlite] \
        [dialect-file=path/to/dialects.yaml]

--write path/to/my.sql nesting=array

--write path/to/my.sql nesting=all

--write path/to/my.sql dialect=clickhouse|postgres|sqlite

--write path/to/my.sql dialect=mydialect dialect-file=path/to/dialects.yaml

dialectname:
  table_template:       CREATE TABLE template; args: table, cols, type, hash, package, class
  view_template:        CREATE VIEW template; args: view, cols, table, topic, type, hash, package, class
  table_name_template:  message type table name template; args: type, hash, package, class
  view_name_template:   topic view name template; args: topic, type, hash, package, class
  types:                Mapping between ROS and SQL common types for table columns,
                        e.g. {"uint8": "SMALLINT", "uint8[]": "BYTEA", ..}
  adapters:             Mapping between ROS types and callable converters for table columns,
                        e.g. {"time": "decimal.Decimal"}
  defaulttype:          Fallback SQL type if no mapped type for ROS type;
                        if no mapped and no default type, column type will be ROS type as-is
  arraytype_template:   Array type template; args: type
  maxlen_entity:        Maximum table/view name length, 0 disables
  maxlen_column:        Maximum column name length, 0 disables
  invalid_char_regex:   Regex for matching invalid characters in name, if any
  invalid_char_repl:    Replacement for invalid characters in name

  table_template:       'CREATE TABLE IF NOT EXISTS {table} ({cols});'
  view_template:        'DROP VIEW IF EXISTS {view};
                         CREATE VIEW {view} AS
                         SELECT {cols}
                         FROM {table}
                         WHERE _topic = {topic};'
  table_name_template:  '{type}',
  view_name_template:   '{topic}',
  types:                {}
  defaulttype:          null
  arraytype_template:   '{type}[]'
  maxlen_entity:        0
  maxlen_column:        0
  invalid_char_regex:   null
  invalid_char_repl:    '__'

positional arguments:
  PATTERN               pattern(s) to find in message field values,
                        all messages match if not given,
                        can specify message field as NAME=PATTERN
                        (supports nested.paths and * wildcards)

optional arguments:
  -h, --help            show this help message and exit
  -F, --fixed-strings   PATTERNs are ordinary strings, not regular expressions
  -I, --no-ignore-case  use case-sensitive matching in PATTERNs
  -v, --invert-match    select non-matching messages
  --version             display version information and exit
  --live                read messages from live ROS topics instead of bagfiles
  --publish             publish matched messages to live ROS topics
  --write TARGET [format=bag|csv|html|postgres|sqlite] [KEY=VALUE ...]
                        write matched messages to specified output,
                        format is autodetected from TARGET if not specified.
                        Bag or database will be appended to if it already exists.
                        Keyword arguments are given to output writer.
                          commit-interval=NUM      transaction size for Postgres/SQLite output
                                                   (default 1000, 0 is autocommit)
                          dialect-file=path/to/dialects.yaml
                                                   load additional SQL dialect options
                                                   for Postgres/SQLite output
                                                   from a YAML or JSON file
                          message-yaml=true|false  whether to populate table field messages.yaml
                                                   in SQLite output (default true)
                          nesting=array|all        create tables for nested message types
                                                   in Postgres/SQLite output,
                                                   only for arrays if "array" 
                                                   else for any nested types
                                                   (array fields in parent will be populated 
                                                    with foreign keys instead of messages as JSON)
                          overwrite=true|false     overwrite existing file in bag/CSV/HTML/SQLite output
                                                   instead of appending to if bag or database
                                                   or appending unique counter to file name
                                                   (default false)
                          template=/my/path.tpl    custom template to use for HTML output
  --plugin PLUGIN [PLUGIN ...]
                        load a Python module or class as plugin
                        (built-in plugins: grepros.plugins.embag, 
                         grepros.plugins.mcap, grepros.plugins.parquet, 
                         grepros.plugins.sql)

Filtering:
  -t TOPIC [TOPIC ...], --topic TOPIC [TOPIC ...]
                        ROS topics to scan if not all (supports * wildcards)
  -nt TOPIC [TOPIC ...], --no-topic TOPIC [TOPIC ...]
                        ROS topics to skip (supports * wildcards)
  -d TYPE [TYPE ...], --type TYPE [TYPE ...]
                        ROS message types to scan if not all (supports * wildcards)
  -nd TYPE [TYPE ...], --no-type TYPE [TYPE ...]
                        ROS message types to skip (supports * wildcards)
  --condition CONDITION [CONDITION ...]
                        extra conditions to require for matching messages,
                        as ordinary Python expressions, can refer to last messages
                        in topics as {topic /my/topic}; topic name can contain wildcards.
                        E.g. --condition "{topic /robot/enabled}.data" matches
                        messages only while last message in '/robot/enabled' has data=true.
  -t0 TIME, --start-time TIME
                        earliest timestamp of messages to scan
                        as relative seconds if signed,
                        or epoch timestamp or ISO datetime
                        (for bag input, relative to bag start time
                        if positive or end time if negative,
                        for live input relative to system time,
                        datetime may be partial like 2021-10-14T12)
  -t1 TIME, --end-time TIME
                        latest timestamp of messages to scan
                        as relative seconds if signed,
                        or epoch timestamp or ISO datetime
                        (for bag input, relative to bag start time
                        if positive or end time if negative,
                        for live input relative to system time,
                        datetime may be partial like 2021-10-14T12)
  -n0 INDEX, --start-index INDEX
                        message index within topic to start from
                        (1-based if positive, counts back from bag total if negative)
  -n1 INDEX, --end-index INDEX
                        message index within topic to stop at
                        (1-based if positive, counts back from bag total if negative)
  --every-nth-message NUM
                        scan every Nth message within topic
  --every-nth-interval SECONDS
                        scan messages at least N seconds apart within topic
  --every-nth-match NUM
                        emit every Nth match in topic
  -sf FIELD [FIELD ...], --select-field FIELD [FIELD ...]
                        message fields to use in matching if not all
                        (supports nested.paths and * wildcards)
  -ns FIELD [FIELD ...], --no-select-field FIELD [FIELD ...]
                        message fields to skip in matching
                        (supports nested.paths and * wildcards)
  -m NUM, --max-count NUM
                        number of matched messages to emit (per each file if bag input)
  --max-per-topic NUM   number of matched messages to emit from each topic
                        (per each file if bag input)
  --max-topics NUM      number of topics to emit matches from (per each file if bag input)
  --unique-only         only emit matches that are unique in topic,
                        taking --select-field and --no-select-field into account
                        (per each file if bag input)

Output control:
  -B NUM, --before-context NUM
                        emit NUM messages of leading context before match
  -A NUM, --after-context NUM
                        emit NUM messages of trailing context after match
  -C NUM, --context NUM
                        emit NUM messages of leading and trailing context
                        around match
  -pf FIELD [FIELD ...], --print-field FIELD [FIELD ...]
                        message fields to print in console output if not all
                        (supports nested.paths and * wildcards)
  -np FIELD [FIELD ...], --no-print-field FIELD [FIELD ...]
                        message fields to skip in console output
                        (supports nested.paths and * wildcards)
  -mo, --matched-fields-only
                        print only the fields where PATTERNs find a match
  -la NUM, --lines-around-match NUM
                        print only matched fields and NUM message lines
                        around match
  -lf NUM, --lines-per-field NUM
                        maximum number of lines to print per field
  -l0 NUM, --start-line NUM
                        message line number to start printing from
                        (1-based if positive, counts back from total if negative)
  -l1 NUM, --end-line NUM
                        message line number to stop printing at
                        (1-based if positive, counts back from total if negative)
  -lm NUM, --lines-per-message NUM
                        maximum number of lines to print per message
  --match-wrapper [STR [STR ...]]
                        string to wrap around matched values,
                        both sides if one value, start and end if more than one,
                        or no wrapping if zero values
                        (default "**" in colorless output)
  --wrap-width NUM      character width to wrap message YAML output at,
                        0 disables (defaults to detected terminal width)
  --color {auto,always,never}
                        use color output in console (default "always")
  --no-meta             do not print source and message metainfo to console
  --no-filename         do not print bag filename prefix on each console message line
  --no-console-output   do not print matches to console
  --progress            show progress bar when not printing matches to console
  --verbose             print status messages during console output
                        for publishing and writing
  --no-verbose          do not print status messages during console output
                        for publishing and writing

Bag input control:
  -n FILE [FILE ...], --filename FILE [FILE ...]
                        names of ROS bagfiles to scan if not all in directory
                        (supports * wildcards)
  -p PATH [PATH ...], --path PATH [PATH ...]
                        paths to scan if not current directory
                        (supports * wildcards)
  -r, --recursive       recurse into subdirectories when looking for bagfiles
  --order-bag-by {topic,type}
                        order bag messages by topic or type first and then by time
  --decompress          decompress archived bagfiles with recognized extensions (.zst .zstd)
  --reindex-if-unindexed
                        reindex unindexed bagfiles (ROS1 only), makes backup copies

Live topic control:
  --publish-prefix PREFIX
                        prefix to prepend to input topic name on publishing match
  --publish-suffix SUFFIX
                        suffix to append to input topic name on publishing match
  --publish-fixname TOPIC
                        single output topic name to publish all matches to,
                        overrides prefix and suffix
  --queue-size-in SIZE  live ROS topic subscriber queue size (default 10)
  --queue-size-out SIZE
                        output publisher queue size (default 10)
  --ros-time-in         use ROS time instead of system time for incoming message
                        timestamps from subsribed live ROS topics