cras_bag_tools

Czech-army knife for working with ROS BAG files.

Python Modules

Several useful functions are exported as Python submodules as module cras_bag_tools:

• bag_filter: Filter a bag file using a MessageFilter.
• fix_msg_defs: Fix message definitions in a bag file according to local definitions.
• message_filter: A message filter that can decide whether a message should be kept or not, and possibly alter it.
• message_filters: Implementations of common message filters.
• topic_set: Efficient data structure to hold a static set of topics with super-fast is-in-set queries.
• tqdm_bag: Bag file reader that shows progressbars when loading index or reading messages.

Scripts

merge_bag

Merge two or more bag files into one.

Usage

rosrun cras_bag_tools merge_bag [-v] [-c] [-b] OUT_BAG IN_BAG [IN_BAG ...]

• OUT_BAG: Output bag file.
• IN_BAG: Input bag file(s).
• -v, --verbose: Verbose output.
• -c, --compress: Compress output bag with LZ4 compression.
• -b, --bz2: Compress output bag with BZ2 compression.

size_per_topic

Print total cumulative serialized message size per topic.

Usage

rosrun cras_bag_tools size_per_topic [-c] [-a] BAG

• BAG: Bag file.
• -c, --csv: Output as CSV.
• -a, --sort-alphabetical: Sort by topic names (default is by topic sizes).

extract_images

Extract image topics from bag file to image or video files.

Usage

rosrun cras_bag_tools extract_images [-h] [--out-format OUT_FORMAT] [--verbose] bag_file output_dir [image_topics [image_topics ...]]

• bag_file: The bag to read.
• output_dir: Directory where all generated files should be stored.
• image_topics: Zero or more topics to convert. If zero, all image topics are converted. Each image topic can be followed by additional configuration in the form TOPIC:OUT_FORMAT:COMPRESSION:ENCODING:IN_FPS:OUT_FPS:PIX_FMT (only TOPIC is required)
  • OUT_FORMAT: Format of the exported images/video (e.g. jpg, mp4 etc.). Defaults to --out-format.
  • COMPRESSION: Compression level. The meaning depends on OUT_FORMAT. JPG has 0-100, PNG 0-9, MP4 0-51 (CRF).
  • ENCODING: Pixel format to convert the images to. E.g. bgr8 or mono8. passthrough means keeping the format. Empty string retains the format for raw images and converts compressed images to the recorded raw format in their .format field if it is available. Defaults to passthrough.
  • Following options are for video formats only.
  • IN_FPS: Framerate of the topic images. If not set, it is estimated from the frequency of the messages in the bag. You can set the FPS higher than the original, effectively speeding up the video.
  • OUT_FPS: Output framerate. Defaults to IN_FPS.
  • PIX_FMT: The -pix_fmt output option for ffmpeg, i.e. the pixel format of the video stream. Defaults to yuvj420p.
• -h: Shows help.
• --out-format: Default format for all topics (e.g. jpg, mp4 etc.). Defaults to jpg.
• --verbose: Print various details during execution.

Example command

# Convert all image topics in the bag to a series of JPEG images in folder imgs/
rosrun cras_bag_tools extract_images spot_2022-10-27-10-35-46.video.bag imgs

# Convert topic /rviz/fixed_image/compressed to an MP4 video
rosrun cras_bag_tools extract_images spot_2022-10-27-10-35-46.video.bag . /rviz/fixed_image/compressed:mp4:23:passthrough:25

filter_bag

Process bag files with a configured set of filters.

Usage

usage: filter_bag [-h] [-c CONFIG [CONFIG ...]] [-o OUT_FORMAT] [--lz4] [--bz2] [--no-copy-params] [--list-yaml-keys] [--list-filters] [--merge-initial-static-tf [DURATION]]
                  [--throttle TOPIC RATE [TOPIC RATE ...]] [-i INCLUDE_TOPICS [INCLUDE_TOPICS ...]] [-e EXCLUDE_TOPICS [EXCLUDE_TOPICS ...]] [--include-types INCLUDE_TYPES [INCLUDE_TYPES ...]]
                  [--exclude-types EXCLUDE_TYPES [EXCLUDE_TYPES ...]] [--include-tf-parents INCLUDE_TF_PARENTS [INCLUDE_TF_PARENTS ...]]
                  [--exclude-tf-parents EXCLUDE_TF_PARENTS [EXCLUDE_TF_PARENTS ...]] [--include-tf-children INCLUDE_TF_CHILDREN [INCLUDE_TF_CHILDREN ...]]
                  [--exclude-tf-children EXCLUDE_TF_CHILDREN [EXCLUDE_TF_CHILDREN ...]] [--decompress-images] [--max-message-size MAX_MESSAGE_SIZE]
                  [bags [bags ...]]

Positional arguments:

• bags: The list of bags to process.

Optional arguments:

File truncated at 100 lines see the full file

Changelog for package cras_bag_tools

2.5.1 (2025-02-18)

• Fixed running on Jetsons.
• Contributors: Martin Pecka

2.5.0 (2025-02-13)

• filter_bag: Split into a reusable module, added more filters and example configs.
• topic_set: Support iteration over TopicSet.
• extract_images: Support global speedup setting.
• filter_bag: Refactor.
• filter_bag: Rewritten to use image_transport_codecs
• Added extract_images
• Added filter_bag
• Contributors: Martin Pecka

2.4.8 (2025-01-07)

2.4.7 (2024-12-12)

2.4.6 (2024-12-12)

2.4.5 (2024-11-02)

2.4.4 (2024-09-14)

2.4.3 (2024-09-14)

2.4.2 (2024-09-05)

2.4.1 (2024-09-04)

2.4.0 (2024-09-04)

2.3.9 (2024-02-27)

• Removed catkin_lint buildfarm hacks.
• Contributors: Martin Pecka

2.3.8 (2024-01-12)

2.3.7 (2024-01-09)

2.3.6 (2024-01-09)

2.3.5 (2023-11-21)

2.3.4 (2023-10-25)

2.3.3 (2023-10-06)

2.3.2 (2023-10-06)

2.3.1 (2023-07-13)

2.3.0 (2023-07-12)

• Increased minimum CMake version to 3.10.2.
• Contributors: Martin Pecka

2.2.3 (2023-06-16)

2.2.2 (2023-05-15)

2.2.1 (2023-05-15)

2.2.0 (2023-04-09)

• Updated build files
• Contributors: Martin Pecka

2.1.2 (2023-02-10)

2.1.1 (2023-02-08)

2.1.0 (2023-02-08)

• Move merge_bag higher in readme.
• Added size_per_topic.
• Improved structure, added merge_bag.
• Contributors: Martin Pecka

2.0.10 (2022-11-24)

2.0.9 (2022-11-24)

2.0.8 (2022-11-24)

2.0.7 (2022-11-24)

2.0.6 (2022-11-24)

2.0.5 (2022-10-23)

2.0.4 (2022-10-14)

2.0.3 (2022-10-07)

File truncated at 100 lines see the full file