rosbags

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======= Rosbags

Rosbags is the pure python library for everything rosbag. It contains:

• highlevel easy-to-use interfaces,
• 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 <https://gitlab.com/ternaris/marv-robotics>_, which requires a fast, correct, and flexible library to read, manipulate, and write the various rosbag file formats.

Getting started

Rosbags is published on PyPI and does not have any special dependencies. Simply install with pip::

pip install rosbags

Read and deserialize messages from rosbag1 or rosbag2 files:

.. code-block:: python

from pathlib import Path

from rosbags.highlevel import AnyReader from rosbags.typesys import Stores, get_typestore

bagpath = Path('/home/ros/rosbag_2020_03_24')

Create a type store to use if the bag has no message definitions.

typestore = get_typestore(Stores.ROS2_FOXY)

Create reader instance and open for reading.

with AnyReader([bagpath], default_typestore=typestore) as reader: connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu'] for connection, timestamp, rawdata in reader.messages(connections=connections): msg = reader.deserialize(rawdata, connection.msgtype) print(msg.header.frame_id)

Convert between rosbag versions::

Convert "foo.bag", result will be "foo/"

rosbags-convert foo.bag

Convert "bar", result will be "bar.bag"

rosbags-convert bar

Convert "foo.bag", save the result as "bar"

rosbags-convert foo.bag --dst /path/to/bar

Convert "bar", save the result as "foo.bag"

rosbags-convert bar --dst /path/to/foo.bag

Documentation

Read the documentation <https://ternaris.gitlab.io/rosbags/>_ for further information.

.. end documentation

Contributing

Thank you for considering to contribute to rosbags.

To submit issues or create merge requests please follow the instructions provided in the contribution guide <https://gitlab.com/ternaris/rosbags/-/blob/master/CONTRIBUTING.rst>_.

By contributing to rosbags you accept and agree to the terms and conditions laid out in there.

Development

Clone the repository and setup your local checkout::

git clone https://gitlab.com/ternaris/rosbags.git

cd rosbags python -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.

Support

Professional support is available from Ternaris <https://ternaris.com>_.