https://github.com/mapiv/rosbags
https://github.com/mapiv/rosbags
Last synced: 10 months ago
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- Host: GitHub
- URL: https://github.com/mapiv/rosbags
- Owner: MapIV
- License: apache-2.0
- Created: 2023-03-01T06:26:12.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2023-11-21T06:27:17.000Z (over 2 years ago)
- Last Synced: 2023-11-21T07:45:30.239Z (over 2 years ago)
- Language: Python
- Size: 763 KB
- Stars: 0
- Watchers: 4
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.rst
- Changelog: CHANGES.rst
- Contributing: CONTRIBUTING.rst
- License: LICENSE.txt
Awesome Lists containing this project
README
.. image:: https://gitlab.com/ternaris/rosbags/badges/master/pipeline.svg
:target: https://gitlab.com/ternaris/rosbags/-/commits/master
:alt: pipeline status
.. image:: https://gitlab.com/ternaris/rosbags/badges/master/coverage.svg
:target: https://gitlab.com/ternaris/rosbags/-/commits/master
:alt: coverage report
=======
Rosbags
=======
Rosbags is the **pure python** library for everything rosbag. It contains:
- **rosbag2** reader and writer,
- **rosbag1** reader and writer,
- **extensible** type system with serializers and deserializers,
- **efficient converter** between rosbag1 and rosbag2,
- and more.
Rosbags does not have any dependencies on the ROS software stacks and can be used on its own or alongside ROS1 or ROS2.
Rosbags was developed for `MARV `_, which requires a fast, correct, and flexible library to read, manipulate, and write the various rosbag file formats.
Getting started
===============
Rosbags is published on PyPI and does not have any special dependencies. Simply install with pip::
pip install rosbags
Read and deserialize rosbag2 messages:
.. code-block:: python
from rosbags.rosbag2 import Reader
from rosbags.serde import deserialize_cdr
# create reader instance and open for reading
with Reader('/home/ros/rosbag_2020_03_24') as reader:
for connection, timestamp, rawdata in reader.messages(['/imu_raw/Imu']):
msg = deserialize_cdr(rawdata, connection.msgtype)
print(msg.header.frame_id)
Convert rosbag1 to rosbag2::
# 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 rosbag2 to rosbag1 (only clone repository)::
# Convert "foo", save the result as "foo.bag"
rosbags-convert-2to1 /path/to/foo
Convert some continual rosbag2 files (only clone repository)::
# Convert "foo0" and "foo1", save the result as "foo0.bag" and "foo1.bag"
# The sequence number in std_msgs/Header is continued from foo0.bag to foo1.bag
rosbags-convert-2to1 /path/to/foo0 /path/to/foo1
Convert original messages from rosbag2 to rosbag1
===========
When you use original ros messages not listed in 'rosbags/src/rosbags/convert_2to1/definition/msg_list_example.txt', generating its definition::
cd rosbags/src/rosbags/convert_2to1/definition/
rosmsg list | grep "OriginalMessageType" > msg_list.txt
bash generate_msgdef.bash
Documentation
=============
Read the `documentation `_ for further information.
.. end documentation
Contributing
============
Thank you for considering to contribute to rosbags.
To submit issues or create merge requests please follow the instructions provided in the `contribution guide `_.
By contributing to rosbags you accept and agree to the terms and conditions laid out in there.
Development
===========
Clone the repository and setup your local checkout::
git clone https://github.com/MapIV/rosbags.git
cd rosbags
python3 -m venv venv
. venv/bin/activate
pip install -r requirements-dev.txt
pip install -e .
This creates a new virtual environment with the necessary python dependencies and installs rosbags in editable mode. The rosbags code base uses pytest as its test runner, run the test suite by simply invoking::
pytest
To build the documentation from its source run sphinx-build::
sphinx-build -a docs public
The entry point to the local documentation build should be available under ``public/index.html``.
Support
=======
Professional support is available from `Ternaris `_.