iamphytan / rosbag-tools

A ROS-agnostic toolbox for common rosbag operations

rosbag-tools

A ROS-agnostic toolbox for common rosbag operations

This package bundles different tools that can be applied on ROS 1 or ROS 2 rosbags with no dependency on the ROS software stack.

Installation

rosbag-tools can be installed from PyPi :

pip install rosbag-tools

Some tools, like topic-compare, have a graphing feature that requires matplotlib. Install rosbag-tools[plot] to install graph dependencies.

pip install rosbag-tools[plot]

rosbag-tools being a CLI application, it can be quickly installed with pipx:

pipx install rosbag-tools
pipx install rosbag-tools[plot] # with plot

Tools

• clip
• split
• compute-duration
• export-odometry
• topic-compare
• topic-remove

Usage

Each tool in rosbag-tools can be used both as a command line application and in Python code.

Command line

A basic use of rosbag-tools is to simply call it from the command line.

rosbag-tools `command` <options>

Contributing

Pull requests and issues are welcome ! Don't hesitate to contribute !

(Recommended) flit is used to package this module. Development packages can be installed using flit :

python -m venv venv
source venv/bin/activate
pip install flit
flit install

(Alternative) Development requirements can be installed using pip :

python -m venv venv
source venv/bin/activate
pip install -r requirements/requirements-dev.txt

Acknowledgements

This package relies strongly on rosbags for working with rosbags. Hats off to the team at Ternaris for developing and maintaining it.

License

This project is licensed under a GNU GPLv3 license.

rosbag-tools's Issues

python 3.8 support

Would it be possible to support python 3.8?
Asking for those who are using Jetson with L4T version r35.*
Thx

[clip] Script fails when encountering an unknown message type

When processing a rosbag containing an unknown message type, the clip tool ends raising a rosbags.typesys.base.TypesysError.
A preferred behavior, in my opinion, would be to notify the user about it but process the rest of the bag file.

[clip] Add topics that are rarely published

• Get topics that have less than n messages
• List those topics
• Retrieve last published message for each topic
• Publish this message at the beginning of the clip