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Repository Summary
| Description | Extension commands for rosbag in ROS 2 |
| Checkout URI | https://github.com/tier4/ros2bag_extensions.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ros2bag_extensions | 0.1.0 |
| rosbag2_py_wrapper | 0.9.2 |
README
ros2bag_extensions
Extension commands for rosbag in ROS 2
Installation
Supported ROS distributions:
- humble
Optional
If you want to use mcap format bags, you need to install the mcap package in advance.
sudo apt install ros-humble-rosbag2-storage-mcap
Build
# create workspace for extension
mkdir -p $HOME/extension_ws/src
# clone extension package
cd $HOME/extension_ws/src
git clone git@github.com:tier4/ros2bag_extensions.git
# build workspace
cd $HOME/extension_ws
source /opt/ros/humble/setup.bash
rosdep install --from-paths . --ignore-src --rosdistro=${ROS_DISTRO}
colcon build --symlink-install --catkin-skip-building-tests --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release
Check installation
source install/local_setup.bash
ros2 bag --help
Make sure that the filter, merge, and slice commands have been added to the list of Commands in the help message.
Usage
ros2 bag merge
Merge multiple bag files.
Usage:
# sqlite3 format bag
ros2 bag merge -o rosbag2_merged/ rosbag2_2021_08_20-12_28_24/ rosbag2_2021_08_20-12_30_03/
# mcap format bag
ros2 bag merge -o rosbag2_merged/ rosbag2_2021_08_20-12_28_24/ rosbag2_2021_08_20-12_30_03/ -s mcap
ros2 bag filter
Filter by topic names. You can use python3 regular expression operations.
Usage:
If you want to include the specified topic, use -i or --include.
# sqlite3 format bag
ros2 bag filter -o rosbag2_filtered/ rosbag2_merged/ -i "/system/emergency/turn_signal_cmd" "/autoware/driving_capability"
# mcap format bag
ros2 bag filter -o rosbag2_filtered/ rosbag2_merged/ -i "/system/emergency/turn_signal_cmd" "/autoware/driving_capability" -s mcap
# use regular expression
ros2 bag filter -o rosbag2_filtered/ rosbag2_merged/ -i "/sensing/.*" "/vehicle/.*"
If you want to exclude the specified topic, use -x or --exclude.
# sqlite3 format bag
ros2 bag filter -o rosbag2_filtered/ rosbag2_merged/ -x "/system/emergency/turn_signal_cmd" "/autoware/driving_capability"
# use regular expression
ros2 bag filter -o rosbag2_filtered/ rosbag2_merged/ -x "/sensing/.*" "/vehicle/.*"
ros2 bag slice
This verb has two functions
extract with start and end time
Save the specified range of data as a bag file by specifying the start time and end time.
Usage:
# sqlite3 format, from 1629430104.911167670 to the bag end time
ros2 bag slice input_bag -o sliced_from -b 1629430104.911167670
# mcap format, from 1629430104.911167670 to the bag end time
ros2 bag slice input_bag -o sliced_from -b 1629430104.911167670 -s mcap
# from the bag begging time to 1629430124
ros2 bag slice input_bag -o sliced_till -e 1629430124
# from 1629430104.911 to 1629430124
ros2 bag slice input_bag -o sliced_between -b 1629430104.911 -e 1629430124
split into multiple files
Split bag file into multiple files with specified duration second.
Usage:
# split input_bag into sliced bags which has 60secs
ros2 bag slice input_bag -o sliced_bags -d 60
CONTRIBUTING
No CONTRIBUTING.md found.
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