diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/CMakeLists.txt ros_comm_rosbag_working/tools/rosbag/CMakeLists.txt
--- ros_comm/tools/rosbag/CMakeLists.txt    Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/CMakeLists.txt Thu Jul 12 08:20:11 2012
@@ -5,7 +5,7 @@
   )

 find_package(ROS REQUIRED COMPONENTS cpp_common roscpp_serialization roscpp rosconsole xmlrpcpp topic_tools rosunit rostest)
-find_package(Boost REQUIRED COMPONENTS regex program_options)
+find_package(Boost REQUIRED COMPONENTS date_time regex program_options filesystem)
 find_package(BZip2 REQUIRED)
 # Support large bags (>2GB) on 32-bit systems
 add_definitions(-D_FILE_OFFSET_BITS=64)
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/include/rosbag/player.h ros_comm_rosbag_working/tools/rosbag/include/rosbag/player.h
--- ros_comm/tools/rosbag/include/rosbag/player.h   Thu Jul 12 11:45:15 2012
+++ ros_comm_rosbag_working/tools/rosbag/include/rosbag/player.h    Thu Jul 12 08:51:11 2012
@@ -36,9 +36,11 @@
 #define ROSBAG_PLAYER_H

 #include <sys/stat.h>
-#include <termios.h>
+#if !defined(_MSC_VER)
+  #include <termios.h>
+  #include <unistd.h>
+#endif
 #include <time.h>
-#include <unistd.h>

 #include <queue>
 #include <string>
@@ -176,8 +178,13 @@

     // Terminal
     bool    terminal_modified_;
+#if defined(_MSC_VER)
+    HANDLE input_handle;
+   DWORD stdin_set;
+#else
     termios orig_flags_;
     fd_set  stdin_fdset_;
+#endif
     int     maxfd_;

     TimeTranslator time_translator_;
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/include/rosbag/recorder.h ros_comm_rosbag_working/tools/rosbag/include/rosbag/recorder.h
--- ros_comm/tools/rosbag/include/rosbag/recorder.h Thu Jul 12 11:45:15 2012
+++ ros_comm_rosbag_working/tools/rosbag/include/rosbag/recorder.h  Thu Jul 12 08:20:58 2012
@@ -36,9 +36,11 @@
 #define ROSBAG_RECORDER_H

 #include <sys/stat.h>
-#include <termios.h>
+#if !defined(_MSC_VER)
+  #include <termios.h>
+  #include <unistd.h>
+#endif
 #include <time.h>
-#include <unistd.h>

 #include <queue>
 #include <string>
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/bag.cpp ros_comm_rosbag_working/tools/rosbag/src/bag.cpp
--- ros_comm/tools/rosbag/src/bag.cpp   Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/bag.cpp    Thu Jul 12 09:59:56 2012
@@ -30,7 +30,11 @@
 #include "rosbag/query.h"
 #include "rosbag/view.h"

-#include <inttypes.h>
+#if defined(_MSC_VER)
+  #include <stdint.h> // only on v2010 and later -> is this enough for msvc and linux?
+#else
+  #include <inttypes.h>
+#endif
 #include <signal.h>

 #include <iomanip>
@@ -210,7 +214,11 @@

     char logtypename[100];
     int version_major, version_minor;
+#if defined(_MSC_VER)
+    if (sscanf_s(version_line.c_str(), "#ROS%s V%d.%d", logtypename, sizeof(logtypename), &version_major, &version_minor) != 3)
+#else
     if (sscanf(version_line.c_str(), "#ROS%s V%d.%d", logtypename, &version_major, &version_minor) != 3)
+#endif
         throw BagIOException("Error reading version line");

     version_ = version_major * 100 + version_minor;
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/chunked_file.cpp ros_comm_rosbag_working/tools/rosbag/src/chunked_file.cpp
--- ros_comm/tools/rosbag/src/chunked_file.cpp  Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/chunked_file.cpp   Thu Jul 12 10:34:03 2012
@@ -39,6 +39,19 @@
 #include <boost/format.hpp>

 #include <ros/ros.h>
+#ifdef _WIN32
+#    ifdef __MINGW32__
+#      define fseeko fseeko64
+#      define ftello ftello64
+//     not sure if we need a ftruncate here yet or not
+#    else
+#        include <io.h>
+#        define fseeko _fseeki64
+#        define ftello _ftelli64
+#        define fileno _fileno
+#        define ftruncate _chsize
+#    endif
+#endif

 using std::string;
 using boost::format;
@@ -52,9 +65,9 @@
     offset_(0),
     compressed_in_(0),
     unused_(NULL),
-    nUnused_(0),
-    stream_factory_(new StreamFactory(this))
+    nUnused_(0)
 {
+    stream_factory_ = boost::shared_ptr<StreamFactory>(new StreamFactory(this));
 }

 ChunkedFile::~ChunkedFile() {
@@ -73,16 +86,32 @@
     // Open the file
     if (mode == "r+b") {
         // Read + write requires file to exists.  Create a new file if it doesn't exist.
-        file_ = fopen(filename.c_str(), "r");
+        #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
+           fopen_s( &file_, filename.c_str(), "r" );
+        #else
+            file_ = fopen(filename.c_str(), "r");
+        #endif
         if (file_ == NULL)
-            file_ = fopen(filename.c_str(), "w+b");
+            #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
+                fopen_s( &file_, filename.c_str(), "w+b" );
+            #else
+                file_ = fopen(filename.c_str(), "w+b");
+            #endif
         else {
             fclose(file_);
-            file_ = fopen(filename.c_str(), "r+b");
+            #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
+                fopen_s( &file_, filename.c_str(), "w+b" );
+            #else
+                file_ = fopen(filename.c_str(), "r+b");
+            #endif
         }
     }
     else
-        file_ = fopen(filename.c_str(), mode.c_str());
+        #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
+            fopen_s( &file_, filename.c_str(), mode.c_str() );
+        #else
+            file_ = fopen(filename.c_str(), mode.c_str());
+        #endif

     if (!file_)
         throw BagIOException((format("Error opening file: %1%") % filename.c_str()).str());
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/play.cpp ros_comm_rosbag_working/tools/rosbag/src/play.cpp
--- ros_comm/tools/rosbag/src/play.cpp  Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/play.cpp   Thu Jul 12 10:07:51 2012
@@ -49,10 +49,10 @@
       ("pause", "start in paused mode")
       ("queue", po::value<int>()->default_value(100), "use an outgoing queue of size SIZE")
       ("clock", "publish the clock time")
-      ("hz", po::value<float>()->default_value(100.0), "use a frequency of HZ when publishing clock time")
-      ("delay,d", po::value<float>()->default_value(0.2), "sleep SEC seconds after every advertise call")
-      ("rate,r", po::value<float>()->default_value(1.0), "multiply the publish rate by FACTOR")
-      ("start,s", po::value<float>()->default_value(0.0), "start SEC seconds into the bag files")
+      ("hz", po::value<float>()->default_value(100.0f), "use a frequency of HZ when publishing clock time")
+      ("delay,d", po::value<float>()->default_value(0.2f), "sleep SEC seconds after every advertise call")
+      ("rate,r", po::value<float>()->default_value(1.0f), "multiply the publish rate by FACTOR")
+      ("start,s", po::value<float>()->default_value(0.0f), "start SEC seconds into the bag files")
       ("loop,l", "loop playback")
       ("keep-alive,k", "keep alive past end of bag")
       ("try-future-version", "still try to open a bag file, even if the version is not known to the player")
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/player.cpp ros_comm_rosbag_working/tools/rosbag/src/player.cpp
--- ros_comm/tools/rosbag/src/player.cpp    Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/player.cpp Thu Jul 12 10:00:46 2012
@@ -36,7 +36,9 @@
 #include "rosbag/message_instance.h"
 #include "rosbag/view.h"

-#include <sys/select.h>
+#if !defined(_MSC_VER)
+  #include <sys/select.h>
+#endif

 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
@@ -401,6 +402,27 @@
    if (terminal_modified_)
        return;

+#if defined(_MSC_VER)
+    input_handle = GetStdHandle(STD_INPUT_HANDLE);
+   if (input_handle == INVALID_HANDLE_VALUE)
+   {
+        std::cout << "Failed to set up standard input handle." << std::endl;
+       return;
+   }
+   if (! GetConsoleMode(input_handle, &stdin_set) )
+   {
+        std::cout << "Failed to save the console mode." << std::endl;
+       return;
+   }
+   // don't actually need anything but the default.
+   //DWORD event_mode = ENABLE_WINDOW_INPUT | ENABLE_MOUSE_INPUT; 
+   //if (! SetConsoleMode(input_handle, event_mode) ) 
+   //{
+    //    std::cout << "Failed to set the console mode." << std::endl;
+   //  return;
+   //}
+    terminal_modified_ = true;
+#else
     const int fd = fileno(stdin);
     termios flags;
     tcgetattr(fd, &orig_flags_);
@@ -413,17 +435,20 @@
     FD_ZERO(&stdin_fdset_);
     FD_SET(fd, &stdin_fdset_);
     maxfd_ = fd + 1;
-
     terminal_modified_ = true;
+#endif
 }

 void Player::restoreTerminal() {
    if (!terminal_modified_)
        return;

+#if defined(_MSC_VER)
+    SetConsoleMode(input_handle, stdin_set);
+#else
     const int fd = fileno(stdin);
     tcsetattr(fd, TCSANOW, &orig_flags_);
-
+#endif
     terminal_modified_ = false;
 }

@@ -431,10 +456,32 @@
 #ifdef __APPLE__
     fd_set testfd;
     FD_COPY(&stdin_fdset_, &testfd);
-#else
+#elif !defined(_MSC_VER)
     fd_set testfd = stdin_fdset_;
 #endif

+#if defined(_MSC_VER)
+    DWORD events = 0;
+   INPUT_RECORD input_record[1];
+    DWORD input_size = 1;
+   BOOL b = GetNumberOfConsoleInputEvents(input_handle, &events);
+   if (b && events > 0) 
+   {
+       b = ReadConsoleInput(input_handle, input_record, input_size, &events);
+       if (b)
+       {
+           for (unsigned int i = 0; i < events; i++)
+           {
+               if (input_record[i].EventType & KEY_EVENT & input_record[i].Event.KeyEvent.bKeyDown)
+               {
+                   CHAR ch = input_record[i].Event.KeyEvent.uChar.AsciiChar;
+                   return ch;
+               }
+           }
+       }
+   }
+    return EOF;
+#else
     timeval tv;
     tv.tv_sec  = 0;
     tv.tv_usec = 0;
@@ -440,8 +487,8 @@
     tv.tv_usec = 0;
     if (select(maxfd_, &testfd, NULL, NULL, &tv) <= 0)
         return EOF;
-
     return getc(stdin);
+#endif
 }

 TimePublisher::TimePublisher() : time_scale_(1.0)
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/record.cpp ros_comm_rosbag_working/tools/rosbag/src/record.cpp
--- ros_comm/tools/rosbag/src/record.cpp    Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/record.cpp Thu Jul 12 08:20:30 2012
@@ -147,9 +147,9 @@
       if ((iss >> duration).fail())
         throw ros::Exception("Duration must start with a floating point number.");

-      if (!iss.eof() and ((iss >> unit).fail()))
+      if ( (!iss.eof() && ((iss >> unit).fail())) ) {
         throw ros::Exception("Duration unit must be s, m, or h");
-      
+      }
       if (unit == std::string(""))
         multiplier = 1.0;
       else if (unit == std::string("s"))
diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/recorder.cpp ros_comm_rosbag_working/tools/rosbag/src/recorder.cpp
--- ros_comm/tools/rosbag/src/recorder.cpp  Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/recorder.cpp   Thu Jul 12 09:42:25 2012
@@ -35,7 +35,12 @@
 #include "rosbag/recorder.h"

 #include <sys/stat.h>
-#include <sys/statvfs.h>
+#include <boost/filesystem.hpp>
+// Boost filesystem v3 is default in 1.46.0 and above
+// Fallback to original posix code (*nix only) if this is not true
+#if BOOST_FILESYSTEM_VERSION < 3
+  #include <sys/statvfs.h>
+#endif
 #include <time.h>

 #include <queue>
@@ -48,6 +53,7 @@
 #include <boost/regex.hpp>
 #include <boost/thread.hpp>
 #include <boost/thread/xtime.hpp>
+#include <boost/date_time/local_time/local_time.hpp>

 #include <ros/ros.h>
 #include <topic_tools/shape_shifter.h>
@@ -246,11 +252,14 @@

 template<class T>
 std::string Recorder::timeToStr(T ros_t) {
-    char buf[1024] = "";
-    time_t t = ros_t.sec;
-    struct tm* tms = localtime(&t);
-    strftime(buf, 1024, "%Y-%m-%d-%H-%M-%S", tms);
-    return string(buf);
+    std::stringstream msg;
+    const boost::posix_time::ptime now=
+        boost::posix_time::second_clock::local_time();
+    boost::posix_time::time_facet *const f=
+        new boost::posix_time::time_facet("%Y-%m-%d-%H-%M-%S");
+    msg.imbue(std::locale(msg.getloc(),f));
+    msg << now;
+    return msg.str();
 }

 //! Callback to be invoked to save messages into a queue
@@ -574,26 +583,52 @@
 }

 bool Recorder::checkDisk() {
+#if BOOST_FILESYSTEM_VERSION < 3
     struct statvfs fiData;
-    if ((statvfs(bag_.getFileName().c_str(), &fiData)) < 0) {
-        ROS_WARN("Failed to check filesystem stats.");
-        return true;
+   if ((statvfs(bag_.getFileName().c_str(), &fiData)) < 0) {
+       ROS_WARN("Failed to check filesystem stats.");
+       return true;
+   }
+   unsigned long long free_space = 0;
+   free_space = (unsigned long long) (fiData.f_bsize) * (unsigned long long) (fiData.f_bavail);
+   if (free_space < 1073741824ull) {
+       ROS_ERROR("Less than 1GB of space free on disk with %s.  Disabling recording.", bag_.getFileName().c_str());
+       writing_enabled_ = false;
+       return false;
+   }
+   else if (free_space < 5368709120ull) {
+       ROS_WARN("Less than 5GB of space free on disk with %s.", bag_.getFileName().c_str());
+   }
+   else {
+       writing_enabled_ = true;
+   }
+#else
+    boost::filesystem::path p(boost::filesystem::system_complete(bag_.getFileName().c_str()));
+   p = p.parent_path();
+   boost::filesystem::space_info info;
+   try 
+   {
+        info = boost::filesystem::space(p);
+   } 
+    catch (boost::filesystem::filesystem_error &e) 
+    { 
+        ROS_WARN("Failed to check filesystem stats [%s].", e.what());
+        writing_enabled_ = false;
+        return false;
     }
-
-    unsigned long long free_space = 0;
-    free_space = (unsigned long long) (fiData.f_bsize) * (unsigned long long) (fiData.f_bavail);
-    if (free_space < 1073741824ull) {
+    if ( info.available < 1073741824ull) {
         ROS_ERROR("Less than 1GB of space free on disk with %s.  Disabling recording.", bag_.getFileName().c_str());
         writing_enabled_ = false;
         return false;
     }
-    else if (free_space < 5368709120ull) {
+    else if (info.available < 5368709120ull) {
         ROS_WARN("Less than 5GB of space free on disk with %s.", bag_.getFileName().c_str());
+        writing_enabled_ = true;
     }
     else {
         writing_enabled_ = true;
     }
-
+#endif
     return true;
 }

diff -NBaur -x .svn -x *.pyc ros_comm/tools/rosbag/src/rosbag/rosbag_main.py ros_comm_rosbag_working/tools/rosbag/src/rosbag/rosbag_main.py
--- ros_comm/tools/rosbag/src/rosbag/rosbag_main.py Fri Jun 22 11:06:36 2012
+++ ros_comm_rosbag_working/tools/rosbag/src/rosbag/rosbag_main.py  Thu Jul 12 13:18:44 2012
@@ -87,7 +87,10 @@
     if options.prefix is not None and options.name is not None:
         parser.error("Can't set both prefix and name.")

-    cmd = ['record']
+    recordpath = roslib.packages.find_node('rosbag', 'record')
+    if not recordpath:
+        parser.error("Cannot find rosbag/record executable")
+    cmd = [recordpath[0]]

     cmd.extend(['--buffsize', str(options.buffsize)])

@@ -111,11 +114,10 @@
         cmd.extend(["--node", options.node])

     cmd.extend(args)
-
-    recordpath = roslib.packages.find_node('rosbag', 'record')
-    if not recordpath:
-        parser.error("Cannot find rosbag/record executable")
-    os.execv(recordpath[0], cmd)
+    
+    # Better way of handling it than os.execv
+    # This makes sure stdin handles are passed to the process.
+    subprocess.call(cmd)

 def info_cmd(argv):
     parser = optparse.OptionParser(usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]',
@@ -189,7 +191,10 @@
     if len(args) == 0:
         parser.error('You must specify at least 1 bag file to play back.')

-    cmd = ['play']
+    playpath = roslib.packages.find_node('rosbag', 'play')
+    if not playpath:
+        parser.error("Cannot find rosbag/play executable")
+    cmd = [playpath[0]]

     if options.quiet:      cmd.extend(["--quiet"])
     if options.pause:      cmd.extend(["--pause"])
@@ -212,11 +217,9 @@
         cmd.extend(['--topics'] + options.topics + ['--bags'])

     cmd.extend(args)
-
-    playpath = roslib.packages.find_node('rosbag', 'play')
-    if not playpath:
-        parser.error("Cannot find rosbag/play executable")
-    os.execv(playpath[0], cmd)
+    # Better way of handling it than os.execv
+   # This makes sure stdin handles are passed to the process.
+    subprocess.call(cmd)

 def filter_cmd(argv):
     def expr_eval(expr):
@@ -779,7 +782,7 @@
             s     = struct.pack('HHHH', 0, 0, 0, 0)
             x     = fcntl.ioctl(1, termios.TIOCGWINSZ, s)
             width = struct.unpack('HHHH', x)[1]
-        except IOError:
+        except (IOError, ImportError):
             pass
         if width <= 0:
             try: