jsk_rosbag_tools

Tools such as creating video from rosbag and compressing rosbag images.

bag_to_video.py

Create video from rosbag.

Usage

usage: bag_to_video.py [-h] [--out OUT] [--fps FPS] [--samplerate SAMPLERATE] [--channels CHANNELS] [--audio-topic AUDIO_TOPIC] [--image-topic IMAGE_TOPIC [IMAGE_TOPIC ...]] input_bagfile

rosbag to video

positional arguments:
  input_bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output directory path or filename.
                        If more than one --image-topic are specified,
                        this will be interpreted as a directory name.
                        Otherwise this is the file name.
  --fps FPS
  --samplerate SAMPLERATE, -r SAMPLERATE
                        sampling rate
  --channels CHANNELS   number of input channels
  --audio-topic AUDIO_TOPIC
  --image-topic IMAGE_TOPIC [IMAGE_TOPIC ...]
                        Topic name to extract.

Example

rosrun jsk_rosbag_tools bag_to_video.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  --samplerate 16000 --channels 1 --audio-topic /audio \
  --image-topic /head_camera/rgb/throttled/image_rect_color/compressed \
  -o /tmp/20220530173950_go_to_kitchen_rosbag.mp4

bag_to_audio.py

Create audio file from rosbag.

Usage

usage: bag_to_audio.py [-h] [--out OUT] [--samplerate SAMPLERATE] [--channels CHANNELS] [--audio-topic AUDIO_TOPIC] input_bagfile

rosbag to audio

positional arguments:
  input_bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output filename. If `--audio-topic`_info is exists, you don't have to specify samplerate and channels.
  --samplerate SAMPLERATE, -r SAMPLERATE
                        sampling rate
  --channels CHANNELS   number of input channels
  --audio-topic AUDIO_TOPIC

Example

rosrun jsk_rosbag_tools bag_to_audio.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  --samplerate 16000 --channels 1 --audio-topic /audio \
  -o /tmp/20220530173950_go_to_kitchen_rosbag.wav

video_to_bag.py

Convert video file to bagfile.

Usage

usage: video_to_bag.py [-h] [--out output_file] [--topic-name TOPIC_NAME] [--compress] [--no-progress-bar] inputvideo

Convert video to bag.

positional arguments:
  inputvideo

optional arguments:
  -h, --help            show this help message and exit
  --out output_file, -o output_file
                        name of the output bag file
  --topic-name TOPIC_NAME
                        Converted topic name.
  --compress            Compress Image flag.
  --no-progress-bar     Don't show progress bar.

Example

rosrun jsk_rosbag_tools video_to_bag.py /tmp/output_bag/head_camera--slash--rgb--slash--throttled--slash--image_rect_color--slash--compressed-with-audio.mp4 \
    -o /tmp/output_bag/video.bag --compress

compress_imgs.py

Convert Image messages to CompressedImage or CompressedDepthImage.

Usage

usage: compress_imgs.py [-h] [--out OUT] [--compressed-topics [COMPRESSED_TOPICS [COMPRESSED_TOPICS ...]]] [--replace] [--no-progress-bar] input_bagfile

Convert Image messages to CompressedImage or CompressedDepthImage

positional arguments:
  input_bagfile         input bagfile path

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output bagfile path
  --compressed-topics [COMPRESSED_TOPICS [COMPRESSED_TOPICS ...]]
                        this image topics are compressed
  --replace
  --no-progress-bar     Don't show progress bar.

Example

rosrun jsk_rosbag_tools compress_imgs.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  -o /tmp/20220530173950_go_to_kitchen_rosbag-compressed.bag

tf_static_to_tf.py

Convert tf_static to tf and save it as a rosbag.

usage: tf_static_to_tf.py [-h] [--out OUT] [--no-progress-bar] input_bagfile

Convert tf_static to tf and save it as a rosbag

positional arguments:
  input_bagfile      input bagfile path

optional arguments:
  -h, --help         show this help message and exit
  --out OUT, -o OUT  output bagfile path
  --no-progress-bar  Don't show progress bar.

Example

rosrun jsk_rosbag_tools tf_static_to_tf.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag

Note

jsk_topic_tools has a static_tf_republisher.py which republish /tf_static from a rosbag file.

tf_static_to_tf.py is an approach to rewrite the rosbag file.

merge.py

Merges two bagfiles.

Usage

usage: merge.py [-h] [--out output_file] [--topics TOPICS] [-i] main_bagfile bagfile

Merges two bagfiles.

positional arguments:
  main_bagfile          path to a bagfile, which will be the main bagfile
  bagfile               path to a bagfile which should be merged to the main bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out output_file, -o output_file
                        name of the output file
  --topics TOPICS, -t TOPICS
                        topics which should be merged to the main bag
  -i                    reindex bagfile

Example

rosrun jsk_rosbag_tools merge.py \
    $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
    $(rospack find jsk_rosbag_tools)/samples/data/2022-05-07-hello-test.bag

Changelog for package jsk_rosbag_tools

2.2.13 (2023-11-09)

• [jsk_rosbag_tools] Use python3-catkin-pkg-modules when python3 is used (#1784)
  • [jsk_rosbag_tools] Use python3-catkin-pkg-modules when python3 is used
• set python2 for jsk_rosbag_tools (#1781)
  • set numpy version for python3
  • split requirements.in for python2 and 3
  • set scipy<1.9.0 to avoid build error with openblas https://github.com/scipy/scipy/issues/16308
  • install scipy to avoid numpy attribute error
• catch StopIteration when all images do not have stamp (#1767)
• jsk_rosbag_tools: version of jsk_common is 2.2.12 (#1751)
• [jsk_rosbag_tools] Fixed a bug when the specified fps is less than the fps of the topic in rosbag. (#1750)
• Add jsk_rosbag_tools package (#1738)
• [jsk_rosbag_tools] Add descriptions for static_tf_republisher.py.
• [jsk_rosbag_tools] Enable catkin_virtualenv for pip dependencies
• [jsk_rosbag_tools] Specify python version
• [jsk_rosbag_tools] logerr subprocess command if failed
• [jsk_rosbag_tools] Split test to avoid indigo's error
• [jsk_rosbag_tools] Drop installation of requirements.in and requirements.txt
• [jsk_rosbag_tools] Add dependencies of download data
• [jsk_rosbag_tools] Refactor test to print command log
• [jsk_rosbag_tools] Avoid raise ValueError on invalid compressed format.
• [jsk_rosbag_tools] Add resize_keeping_aspect_ratio_wrt_target_size to fix video
• [jsk_rosbag_tools] Fixed W503 line break before binary operator
• [jsk_rosbag_tools] Fixed E226 missing whitespace around arithmetic operator
• [jsk_rosbag_tools] Add show_progress_bar option
• [jsk_rosbag_tools] Add .wav ext
• [jsk_rosbag_tools] Add fps option
• [jsk_rosbag_tools] Add message to raise
• [jsk_rosbag_tools] Resize every frame
• [jsk_rosbag_tools] Fix bug when saving to local path with --image-topic
• [jsk_rosbag_tools] Allow to record mono8 topics for mask images
• [jsk_rosbag_tools] Fixed compr_type condition
• [jsk_rosbag_tools] Check topic exists
• [jsk_rosbag_tools] Fixed W503 line break before binary operator
• [jsk_rosbag_tools] Rename extract_audio to bag_to_audio
• [jsk_rosbag_tools] Fixed E225 missing whitespace around operator
• [jsk_rosbag_tools] Decompress as much as possible
• [jsk_rosbag_tools] Refactor dependencies
• [jsk_rosbag_tools] Enable python2 compatibility
• [jsk_rosbag_tools] Add shebang
• [jsk_rosbag_tools] chmod u+x test_jsk_rosbag_tools.py
• [jsk_rosbag_tools] Add bag_to_audio.py
• [jsk_rosbag_tools] Makedirs in extract_audio
• [jsk_rosbag_tools] Include AudioFileClip and VideoFileClip to prevent calling pygame.init()
• [jsk_rosbag_tools] chmod u+x
• [jsk_rosbag_tools] Fixed sample docs
• [jsk_rosbag_tools] Fixed bag to video docs
• [jsk_rosbag_tools] Import AudioFileClip and VideoFileClip
• [jsk_rosbag_tools] Use library's function
• [jsk_rosbag_tools] Seperate bag_to_video function as library
• [jsk_rosbag_tools] Add topic_name_to_file_name
• [jsk_rosbag_tools] Add makedirs library for python2
• [jsk_rosbag_tools] Set time-limit to 360.0
• [jsk_rosbag_tools] Modified sample bagfile to reduce test time
• [jsk_rosbag_tools] Set version to 2.2.11
• [jsk_rosbag_tools] Drop catkin virtualenv
• Add jsk_rosbag_tools package
• Contributors: Guilherme Affonso, Kei Okada, Naoto Tsukamoto, Shingo Kitagawa, Iory Yanokura

2.2.12 (2022-06-07)

2.2.11 (2020-07-10)

2.2.10 (2018-11-03)

2.2.9 (2018-11-02)

2.2.8 (2018-11-01)

2.2.7 (2018-06-27)

2.2.6 (2018-01-05)

2.2.5 (2017-06-19)

2.2.4 (2017-06-14)

2.2.3 (2017-03-23)

2.2.2 (2016-12-30)

2.2.1 (2016-12-13)

2.2.0 (2016-10-28)

2.1.2 (2016-09-14)

2.1.1 (2016-09-07)

2.1.0 (2016-09-06)

2.0.17 (2016-07-21)

2.0.16 (2016-06-19)

2.0.15 (2016-06-13)

2.0.14 (2016-05-14)

2.0.13 (2016-04-29)

2.0.12 (2016-04-18)

2.0.11 (2016-03-20)

2.0.10 (2016-02-13)

2.0.9 (2015-12-14)

2.0.8 (2015-12-07)

2.0.7 (2015-12-05)

2.0.6 (2015-12-02)

2.0.5 (2015-11-30)

2.0.4 (2015-11-25)

2.0.3 (2015-07-24)

2.0.2 (2015-07-07)

2.0.1 (2015-06-28)

2.0.0 (2015-06-19)

1.0.72 (2015-06-07)

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05 12:28)

1.0.68 (2015-05-05 09:49)

1.0.67 (2015-05-03)

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

1.0.64 (2015-03-29)

1.0.63 (2015-02-19)

1.0.62 (2015-02-17)

1.0.61 (2015-02-11)

1.0.60 (2015-02-03 10:12)

1.0.59 (2015-02-03 04:05)

1.0.58 (2015-01-07)

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20 16:01)

1.0.50 (2014-10-20 01:50)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26 09:17)

1.0.43 (2014-09-26 01:08)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.37 (2014-09-08)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19 23:29)

1.0.15 (2014-04-19 20:19)

1.0.14 (2014-04-19 12:52)

1.0.13 (2014-04-19 11:06)

1.0.12 (2014-04-18 16:58)

1.0.11 (2014-04-18 08:18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.7 (2014-04-10)

1.0.6 (2014-04-07)

1.0.5 (2014-03-31)

1.0.4 (2014-03-29)

1.0.3 (2014-03-19)

1.0.2 (2014-03-12)

1.0.1 (2014-03-07)

1.0.0 (2014-03-05)