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