Fuse Downloaded Combo Bags into one Rosbag

DLR Holoscene and DLR SDP platforms record sensor data into a ZIP file. Use this repository to convert it into a single rosbag for further analysis and visualization.

Tested on Ubuntu 20.04 and macOS Monterey (note: slow performance on M1 due to architecture mismatch)

Quickstart

1. Clone this repository:

git clone https://github.com/borealbikes-dev/combo-rosbag-fuser.git

2. Install Docker for your system. Once installed, confirm installation by:

docker -v

On a Mac, you may need to run the Docker application (so that it shows up on the top bar) as well.

In case docker requires you to run it with sudo, run the below scripts with sudo as well.

3. Run the main script to download the latest docker image and to create the input and output directories.

./run_fuser.sh

4. Move/copy the ZIP file obtained from the Boreal Web Interface into the input directory.

5. Then run the script again:

./run_fuser.sh

6. See output directory for a new .mcap rosbag.

7. Use Foxglove to view its contents.

Anatomy of combo_bag

An unzipped combo_bag looks something like this:

combo_bag_2023-01-25_17-03-15/  # date format: YYYY-MM-DD_HH-MM-SS
├── camera
│   └── usb2 # a directory for each camera source
│       ├── usb-1674662595562-ms-000-minutes.mp4  # filename contains start of video for this camera in milliseconds (since linux epoch)
│       └── usb-1674662595562-ms-001-minutes.mp4  # files are split by 1 minute when recording 
└── rosbag
    ├── metadata.yaml
    ├── rosbag_0.mcap # rosbag for first minute
    └── rosbag_1.mcap # rosbag for second minute