ROS Index
Repository Summary
| Description | Tool extensions for ros2bag cli |
| Checkout URI | https://github.com/ait-assistive-autonomous-systems/ros2bag_tools.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-02 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ros2bag_tools | 0.1.0 |
| rosbag2_tools | 0.1.0 |
README
Pipeline-Status
| Workflow | Branch | Status |
|---|---|---|
| Build and test |  |
|
| Lint |  |
ROS2 bag tools
ros2bag_tools adds verb extensions to the ros2bag cli.
| Verb | Usage |
|---|---|
| add | add new topic, with messages aligned to existing topic |
| cut | cut time slice by wall time or duration offset |
| drop | drop X out of every Y messages of a topic |
| export | export data to other formats, see export |
| extract | extract topics by name |
| plot | plot message data to a new window, see plot |
| process | chain multiple filters, see chaining |
| prune | remove topics without messages |
| reframe | change frame_id on messages with headers |
| rename | change name of a topic |
| replace | replace messages of a specific topic with message data specified in a yaml file |
| restamp | for all messages with headers, change the bag timestamp to their header stamp |
| summary | print summary on data to stdout |
| sync | output synchronized bundles of messages using the ApproximateTimeSynchronizer |
| video | show or write video of image data |
You can check detailed usage information with ros2 bag $VERB --help.
Bold verbs support chaining as described in chaining.
chaining
Each command writes a new output bag on disk.
If you need to chain multiple commands together, you can use ros2 bag process to process all messages in-memory and write only one output bag.
To use it, create a config file that contains one line per command, with the same arguments as the cli interface.
For example create a file named process.config containing those lines:
cut --duration 10
extract -t /image_rect
restamp
and run ros2 bag process -c process.config in.bag -o out.bag to use only the first 10 seconds, keep only the /image_rect topic and restamp the remaining messages in one go.
export
Exporting is currently possible for:
-
pcd:sensor_msgs/msg/PointCloud2-> ASCII PCD files -
image:sensor_msgs/msg/[Compressed]Image-> jpg or png -
stamp:std_msgs/msg/Header(any message with header) -> stamp file -
tum_trajectory:nav_msgs/msg/Odometry-> TUM trajectory file
Run ros2 bag export --in $BAG_PATH -t $TOPIC_NAME $EXPORTER to see available options.
synchronized export
ros2 bag export supports preprocessing of messages before exporting, using the filters described above.
In addition, a list of exporters can be passed, to export messages from multiple topics simultaneously while reading the data only once.
For instance, this can be used to export synchronized images in the presence of frame drops:
# filters.config
# same syntax as described in chaining
sync -t /left/image_rect /right/image_rect
# export.config
# syntax: TOPIC EXPORTER_NAME EXPORTER_ARGS..
/left/image_rect image --dir cam_left
/right/image_rect image --dir cam_right
# write only those images in /left/image_rect and /right/image_rect with header.stamp synchronized
# by the default tolerance to the cam_left and cam_right directories respectively
ros2 bag export -f filters.config -c export.config
plot
Quickly plot timeseries from message data using matplotlib. You can specify one topic + field per time series.
Example:
# plot header stamps on x axis, range value on y
ros2 bag plot rosbag2_tools/test/range.bag -t /range.range
rosbag2_tools
This packages provides python utilities to implement the verbs, but can be used independently.
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