rosbag_utils

Table of Contents

• rosbag_utils
  • Table of Contents
  • About
  • Installation
  • Usage
    • Setting parameters
      • YAML file
    • Running conversion scripts
      • Optitrack Motive
  • Future work
  • License

About

This package contains a set of utilities for converting output files from various software into ROS bags.

For now, the supported software are:

• Optitrack Motive

Installation

Clone the package into your catkin workspace and build it.

cd <path/to/catkin/workspace>/src 
git clone https://github.com/selim-cm/rosbag_utils.git
rosdep install -y -r --from-paths src --ignore-src
cd .. && catkin_make # or catkin build rosbag_utils if catkin_tools installed

Usage

Setting parameters

Parameters can be set either in a YAML file or in the command line.

YAML file

Create a YAML file with the following structure (see config/example_generic.yaml for an example):

INPUT_FILE_NAME: <name of the input file>
OUTPUT_FILE_NAME: <name of the output file> 
INPUT_FILE_DIR: <path to the input file directory>
OUTPUT_FILE_DIR: <path to the output file directory>
USE_STAMPED_MESSAGE: <true or false>
INPUT_FILE_PATH: <path to the input file>
OUTPUT_FILE_PATH: <path to the output file>

Other parameters specific to the software can be set as well.

You can run the following command to run a conversion script with parameters set in a YAML file:

rosrun rosbag_utils <conversion_script>.py --config <path/to/config.yaml>

Or:

roslauch rosbag_utils <conversion_script>.py --config <path/to/config.yaml>

Running conversion scripts

Optitrack Motive

Data from Motive software can be converted to a CSV file using the GUI:

See https://v22.wiki.optitrack.com/index.php?title=Data_Export:_CSV for details.

The additional parameters that can be set for Motive conversion are:

TOPIC_PREFIX: <prefix for the topic names>
TOPIC_NAMES: <list of topic names>

See config/example_motive.yaml for an example of a YAML file for Motive conversion with all the parameters set.

The conversion script convert_motive.py can be run with the following command:

rosrun rosbag_utils convert_motive.py --config <path/to/config.yaml>

Or by setting the parameters in the command line.

Future work

• Update the parameter list and examples
• Add conversion scripts for other software
• Test on ROS versions other than Melodic
• Add requirements details

License

This package is licensed under the 2-Clause BSD License. See the LICENSE file for details.