https://github.com/maxfleur/ros2_utils_tool
A simple, but powerful UI toolset for various ROS2 utilities, with additional partial CLI support.
https://github.com/maxfleur/ros2_utils_tool
catch2 cpp cpp20 ros2 ros2-humble ros2-jazzy
Last synced: 3 months ago
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A simple, but powerful UI toolset for various ROS2 utilities, with additional partial CLI support.
- Host: GitHub
- URL: https://github.com/maxfleur/ros2_utils_tool
- Owner: MaxFleur
- License: eupl-1.2
- Created: 2025-01-04T09:25:38.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-04-04T13:37:21.000Z (3 months ago)
- Last Synced: 2025-04-04T14:32:57.156Z (3 months ago)
- Topics: catch2, cpp, cpp20, ros2, ros2-humble, ros2-jazzy
- Language: C++
- Homepage:
- Size: 629 KB
- Stars: 70
- Watchers: 2
- Forks: 8
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Overview
The ros2_utils_tool package provides a complete UI-based tool for the everyday-usage of ROS2 with additional CLI support. As of now, the tool provides the following functionalities:
| Tool | Description | UI support | CLI support |
|-------|-------------|:----------:|:-----------:|
| Bag to Video | Export a ROS bag video topic to a video | X | X |
| Video to Bag | Port a video file to a ROS bag | X | X |
| Bag to PCDs | Export a ROS bag point cloud topic to a set of pcd files | X | X |
| PCDs to Bag | Port a set of PCD files to a ROS bag | X | X |
| Bag to Images | Export a ROS bag video topic to an image sequence | X | X |
| Edit Bag | Rename, remove or crop topics in a ROS bag | X | |
| Merge Bags | Merge selected topics of two bags in a new ROS bag | X | X |
| Dummy Bag | Create a ROS bag with dummy data | X | X |
| UI-based Bag Info | UI-supported bag info vis | X | (X) (`ros2 bag info`) |
| Compress Bag | Compress a bag file | X | X |
| Decompress Bag | Decompress a bag file | X | X |
| Video as ROS Topic | Publish a video file as a ROS image_msg topic | X | X |
| Image Sequence as ROS Topic | Publish a file with images as ROS image_msg Topic | X | X |
NOTE: The package is still under active development, so more tools might be added later in the future. Additionally, already existing features might expand and change constantly.
## Installation
### Dependencies
The following packages are required to be installed manually:
- [ROS2](https://docs.ros.org/en/jazzy/index.html), both version **humble** and **jazzy** are supported.
- [Qt6/Qt5](https://doc.qt.io/) for all UI as well as some convenience functionalities.
- [catch2_ROS](https://index.ros.org/p/catch_ros2/) for Catch2-based unit tests with ROS2.
The following packages are also required, but should be installed automatically with ROS:
- [OpenCV](https://opencv.org/) for writing video files.
- [cv_bridge](https://index.ros.org/p/cv_bridge/) for converting ROS sensor images to cv matrices and vice versa.
- [PCL](https://pointclouds.org/) for creating point clouds and converting them from and to ROS messages.
The following packages are optional:
- [uncrustify](https://github.com/uncrustify/uncrustify) for code formatting.
All dependencies aside from ROS2 can be installed at once using the following command:
**Humble**:\
`sudo apt install libopencv-dev ros-humble-cv-bridge libpcl-dev qt6-base-dev qtbase5-dev ros-humble-catch-ros2`
**Jazzy**:\
`sudo apt install libopencv-dev ros-jazzy-cv-bridge libpcl-dev qt6-base-dev qtbase5-dev ros-jazzy-catch-ros2`
Alternatively, use `rosdep` to install all dependencies.
### Build the tool
1. Navigate to your ROS2 workspace's src direction:
```
cd path/to/your/workspace/src
```
2. Clone this repository:
```
git clone https://github.com/MaxFleur/ros2_utils_tool.git
```
3. Navigate back to your workspace:
```
cd path/to/your/workspace/
```
4. Build the project and source it:
```
colcon build
source install/setup.bash
```
## Usage
**Full UI**:
```
ros2 run ros2_utils_tool tool_ui
```
**Bag-to-Video-Tool**:
```
ros2 run ros2_utils_tool tool_bag_to_video /path/to/bag /path/to/video
```
(Note that a topic can be specified optionally. If no topic is specified, the first available video topic is used. The video needs to have an .mp4 or .mkv appendix).
**Video-to-Bag-Tool**:
```
ros2 run ros2_utils_tool tool_video_to_bag /path/to/video /path/to/bag
```
(Note that a topic can be specified optionally. If no topic is specified, a predefined topic name will be taken. The video needs to have an .mp4 or .mkv appendix).
**Bag-to-PCDs-Tool**:
```
ros2 run ros2_utils_tool tool_bag_to_pcds /path/to/bag /path/to/pcds
```
(Note that a topic can be specified optionally. If no topic is specified, the first available point cloud topic is used).
**PCDs-to-Bag-Tool**:
```
ros2 run ros2_utils_tool tool_bag_to_pcds /path/to/pcds /path/to/bag
```
(Note that a topic can be specified optionally. If no topic is specified, a predefined topic name will be taken).
**Bag-to-Images-Tool**:
```
ros2 run ros2_utils_tool tool_bag_to_images /path/to/bag /path/to/images
```
(Note that a topic can be specified optionally. If no topic is specified, the first available video topic is used. `image_format` needs to be either `jpg`, `bmp` or `png`, jpg is default).
**Merge-Bags-Tool**:
```
ros2 run ros2_utils_tool tool_merge_bags path/to/first_bag path/to/second_bag -t1 topic_name_1 (...) -t2 topic_name_2 (...) path/to/output_bag
```
**Dummy-Bag-Tool**:
```
ros2 run ros2_utils_tool tool_dummy_bag path/to/bag topic_type_1 topic_name_1 ... message_count
```
(Topic type needs to be `String`, `Integer`, `Image` or `PointCloud`, up to four topics can be written, `message_count` needs to be a value from 1 to 1000).
**Compress-Bag-Tool**:
```
ros2 run mediassist4_ros_tools tool_compress_bag path/to/uncompressed/source/bag /path/to/compressed/target/bag
```
(Compression per file is default, use `-m message` to compress per message).
**Decompress-Bag-Tool**:
```
ros2 run mediassist4_ros_tools tool_decompress_bag path/to/compressed/source/bag /path/to/uncompressed/target/bag
```
**Publish-Video-Tool**:
```
ros2 run ros2_utils_tool tool_publish_video path/to/video
```
(Note that a topic can be specified optionally. If no topic is specified, a predefined topic name will be taken. The video needs to have an .mp4 or .mkv appendix).
**Publish-Images-Tool**:
```
ros2 run ros2_utils_tool tool_publish_images path/to/images
```
(Note that a topic can be specified optionally. If no topic is specified, a predefined topic name will be taken. Images need to be of format `jpg`, `bmp` or `png`).
**Unit tests**:
```
ros2 run ros2_utils_tool tool_tests
```
## License
The ros2_utils_tool package is licensed under [EUPLv1.2](https://interoperable-europe.ec.europa.eu/sites/default/files/custom-page/attachment/2020-03/EUPL-1.2%20EN.txt).
## Contribution
If you discover a new bug or wish for a new feature, feel free to open a new issue.\
If you want to contribute another feature, please use the provided Uncrustify file for code formatting. As the `main` branch is only updated for new versions or critical bugfixes, the `develop` branch is the most current one, providing the newest updates and features. So please open a merge request with `develop` as the target branch.