remake_rosbag2

remake_rosbag2

• This is a shell script to remove unnecessary topic at rosbag2 playing.

Confirmed environment

• Ubuntu 20.04 LTS, ROS Galactic
• Ubuntu 22.04 LTS, ROS Humble

Get started

• Set topic name for script file

### Make recording topic ###
# perception debug topic
ALLTOPIC=""
PERCEPTION_TOPIC=$(ros2 topic list | grep --regexp="/perception/object_recognition/*")
ALLTOPIC="$ALLTOPIC $PERCEPTION_TOPIC"

# other topic
RECORDTOPIC=(
/tf
/tf_static
/localization/kinematic_state
/sensing/lidar/concatenated/pointcloud
)

• input

- path_to_rosbag/
  - input_rosbag.db3: original rosbag2

• Run script

./remake_rosbag2.sh path_to_rosbag/input_rosbag.db3

• output

- path_to_rosbag/
  - input_rosbag.db3: original rosbag2
  - /visualize/{TIME}/
    - {TIME}.db3: rosbag for visualization
    - input_rosbag.txt: original rosbag2 file name
    - metadata.yaml