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https://github.com/noam-dori/unbag2
extracts data from ROS bag files and can directly record ROS topics into distributable files
https://github.com/noam-dori/unbag2
Last synced: 21 days ago
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extracts data from ROS bag files and can directly record ROS topics into distributable files
- Host: GitHub
- URL: https://github.com/noam-dori/unbag2
- Owner: Noam-Dori
- Created: 2020-10-15T06:01:18.000Z (about 4 years ago)
- Default Branch: master
- Last Pushed: 2020-10-15T06:06:14.000Z (about 4 years ago)
- Last Synced: 2024-10-31T18:06:23.127Z (2 months ago)
- Language: C++
- Size: 40 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
# Unbag2
This is the ROS2 version of unbag. Its job is to extract the data recorded in bag files or ROS topics into file formats
non-ROS people can use.
## Run
after running `colcon build` (`--symlink-install` is recommended):
```sh
ros2 run unbag2 unbag
```
The script that runs unbag is also available in the cloned git repo:
```sh
~/dev_ws/src/unbag2/unbag
```
You can probably alias either command to make it easier for you.
`` is a list of the bag files you want to extract
This is a string of a list of paths split by spaces.
- Relative paths are relative to the current working directory.
- Wildcards (`*`) are allowed.
- `..` and `.` are also correctly parsed.
- Paths to directories will find all bag files in the directory (only 1 level)
Additional is done from `cfg/unbag2.yml`. See it for extra documentation about configuration.
## Extension
You can add more processors, or "pipes" to unbag via plugins.
To add a plugin:
1. Declare a class that extends `unbag2::Pipe`, `unbag2::PipeBase`, or `unbag2::JsonPipe`
and add the plugin macro to it.
For example:
```cpp
#include
#include
#include
#ifndef MY_PIPE_STRING_PIPE_HPP
#define MY_PIPE_STRING_PIPE_HPP
namespace my_pipe
{
/**
* \brief a pipe specializing in logging incoming strings.
*/
class StringPipe : public PipeBase
{
public:
/**
* \brief construct a new String pipe. figures.
*/
GpsPipe();
void load_pipe_params(rclcpp::Node * node) override;
void process(std_msgs::msg::String msg, const std::string & topic) override;
void on_bag_end() override;
void on_job_end() override;
private:
bool print_warning_ = false;
};
}
PLUGINLIB_EXPORT_CLASS(unbag2::StringPipe, unbag2::Pipe) // NOLINT(cert-err58-cpp)
#endif //MY_PIPE_STRING_PIPE_HPP
```
2. Implement `process`, `on_bag_end`, `on_job_end`, and optionally `load_pipe_params` or `can_process`.
See `include/unbag2/pipe.hpp`, `include/unabg2/pipe/pipe_base.hpp` and `include/unabg2/pipe/json_pipe.hpp` for API documentation.
Example:
```cpp
#include
using rclcpp::Node;
using std_msgs::msg::String;
using std::string;
namespace my_pipe
{
StringPipe::StringPipe() : PipeBase("string_pipe")
{
}
void StringPipe::load_pipe_params(Node * node)
{
print_warning_ = !node->declare_parameter(to_param("print_warning"), false);
}
void StringPipe::process(String msg, const string & topic)
{
auto message = "got string [%s] from topic [%s]";
if(print_warning_)
{
RCLCPP_WARN(get_logger(), message, msg.data.c_str(), topic.c_str());
}
else
{
RCLCPP_INFO(get_logger(), message, msg.data.c_str(), topic.c_str());
}
}
void StringPipe::on_bag_end()
{
RCLCPP_INFO(get_logger(), "finished processing a bag file");
}
void StringPipe::on_job_end()
{
RCLCPP_INFO(get_logger(), "finished processing all files");
}
}
```
3. create a plugin.xml file that declares a new library and describes your new class(es):
```xml
SOME DESCRIPTION
... more classes if you added more than 1
```
4. add CMake commands in your CMakeLists.txt:
```cmake
# this segment of code is used to add a plugin
add_library( SHARED )
target_include_directories( PUBLIC
$
$)
ament_target_dependencies( rclcpp pluginlib)
pluginlib_export_plugin_description_file( default_pipes.xml)
```
These will declare and export your plugin so unbag2 knows about them.