ROS提供了接收不同ROS版本的bag发布的数据的接口, 于是可以通过ROS2监听ROS1版本的bag播放的数据实现转录, 类似于用两个设备分别进行播放和录音. 但是这个方法太过笨重, 每次转录都需要等待源bag包播放完毕. 目前更推荐的方法是Python包rosbags提供的接口, 能够直接实现ROS1版本和ROS2版本bag包的格式转换. 此库的g...
package_path = rospack.get_path('rosbag_learning') bags_path = package_path + "/bags" # 打开一个存在的 bag 文件 with rosbag.Bag(bags_path+'/pytest.bag', 'r') as bag: topic_filters = ['/chatter', '/number'] msg_types, topics = bag.get_type_and_topic_info(topic_filters) pr...
安装rosbags库: pip install rosbags rosbag转换 # Convert "foo.bag", result will be "foo/" rosbags-convert foo.bag # Convert "foo.bag", save the result as "bar" rosbags-convert foo.bag --dst /path/to/bar # Convert "foo", save the result as "foo.bag" rosbags-convert-2to1...
Code README Apache-2.0 license The plugin for rosbags from ROS 1 This is the plugin for reading legacy ROS 1 bag files and introspect as well as replay them in ROS 2. The name for this plugin refers to the version 2 of the ROS 1 bag format:https://wiki.ros.org/Bags/Format/2.0Th...
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# Not many good quality ROS2 bags exist yet - here we show a # workaround with a ROS1 bag run in ROS2 # Make sure you have installed ros2 bag packages apt-get update sudo apt-get install ros-dashing-ros2bag-* ros-dashing-rosbag2* ...
// if your bag is compressed you can supply a callback to decompress it// based on the compression type. The callback should accept a buffer of compressed bytes// and return a buffer of uncompressed bytes. For examples on how to decompress lz4 and bz2 compressed bags// please see the ...
msgsFiltered = readMessages(bagSel);Input Arguments collapse all bag— Messages in ros2bag object ros2bag object Messages in the ros2bag object, specified as a ros2bag object. rows— Rows of ros2bag object n-element vector Rows of the ros2bag object, specified as an n-element vector. ...
output_bags: - uri: /output/bag1 # required storage_id: sqlite3 # required max_bagfile_size: 0 max_bagfile_duration: 0 storage_preset_profile: "" storage_config_uri: "" all: false topics: [] rmw_serialization_format: "" # defaults to using the format of the input topic regex: "...
rosbags is the simplest utility which does not depend on ROS installs at all. ROS bag conversion is a hard problem since you need to have both ROS1 and ROS2 dependencies. This is what was used to generate the converted ROS2 bag files for standard datasets. To do a conversion of a ...