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.
Rosbags is published on PyPI and does not have any special dependencies. Simply install with pip:
pip install rosbags
Read and deserialize rosbag2 messages:
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
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
Read the documentation for further information.
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.
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.
Professional support is available from Ternaris.