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Scripts

Utility scripts for inspecting and debugging rosbag files.

Prerequisites

  • ROS 2 Humble (or later) environment sourced
  • Python 3.10+

Install Dependencies

# 1. Source ROS 2 environment (provides rclpy, rosbag2_py, sensor_msgs, etc.)
source /opt/ros/humble/setup.bash

# 2. Install additional Python dependencies
pip install --user -r requirements.txt

Scripts

decode_pointcloud2.py

Decode and inspect PointCloud2 messages from rosbag files.

# Decode all PointCloud2 topics
python3 scripts/decode_pointcloud2.py /path/to/bag.mcap

# Show every 5000th point
python3 scripts/decode_pointcloud2.py /path/to/bag.mcap --point-step 5000

plot_field_distribution.py

Plot the value distribution of a PointCloud2 field across all topics in a rosbag.

# Plot intensity distribution
python3 scripts/plot_field_distribution.py /path/to/bag.mcap intensity

# Specify number of bins
python3 scripts/plot_field_distribution.py /path/to/bag.mcap intensity --bins 100

# Save to file
python3 scripts/plot_field_distribution.py /path/to/bag.mcap intensity -o distribution.png