Rosbag Extractor

A python utility to convert rosbags into human-readable data.

Installation

It is suggested to install the module with pip:

pip install -e .

Usage

usage: rosbag_extractor [-h] [-i INPUT] [-c CONFIG] [-o OUTPUT] [--ignore-missing] [--overwrite]

Extract data from a rosbag file to a directory.

options:
  -h, --help            show this help message and exit
  -i INPUT, --input INPUT
                        Path to the ROS1 or ROS2 bag.
  -c CONFIG, --config CONFIG
                        Configuration file name (see configs folder)
  -o OUTPUT, --output OUTPUT
                        Output directory.
  --ignore-missing      Ignore missing topics in the config file.
  --overwrite           Overwrite existing files in the output directory.

To use, create a config in the configs folder, which must be a list of dictionaries, each containing the following information:

Key	Value
type	Type of data to handle (see supported types below)
topic	Name of the topic to extract
folder	Name of the subfolder where to extract the data
extension	File extension for the extracted data
args	Extra arguments for some data types

Supported types

The following types are currently implemented in the tool:

basic -> Any basic data without complex encoding, such as most std_msgs, as well as custom messages containing only basic types.

imu -> Messages of type sensor_msgs/msg/Imu, can be extracted to a single CSV file including timestamps.

gnss -> Messages of type sensor_msgs/msg/NavSatFix, can be extracted to a single CSV file including timestamps.

audio -> Messages of type audio_common_msgs/msg/AudioData or audio_common_msgs/msg/AudioDataStamped, can be extracted to a single MP3 or WAV file.

odometry -> Messages of type nav_msgs/msg/Odometry, can be extracted to a single CSV file including timestamps.

point_cloud -> Messages of type sensor_msgs/msg/PointCloud2, can be extracted to a single CSV file per point cloud, named by timestamp.

image -> Messages of type sensor_msgs/msg/Image, that will be directly decoded and saved as single images named by timestamps.

Images

Images extraction include extra parameters to achieve the desired output:

Args	Type	Description
rectify	bool	Whether to rectify the images (will look for <cam_topic>/camera_info)
scale	float	Factor to rescale the images (1.0 will leave them unchanged)
debayer	bool	Whether to convert the bayer image to RGB before saving
quality_factor	float	(JPG-only) Compress extracted images to reduce size on disk, needs to be 1.0 or lower
convert_12to8bits	bool	Whether to convert 12 bits images to 8 bits before saving
brackets	list[int]	Sort extracted images in specified brackets folder (will look for <cam_topic>/metadata)
basler_decompress	bool	(Basler only) Decompress images, message type should be packets