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mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
lyrical

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

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Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

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mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

File truncated at 100 lines see the full file

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged mola_input_rosbag1 at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_input_rosbag1 package from mola_input_rosbag1 repo

mola_input_rosbag1

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.3.0
License BSD-3-Clause
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_input_rosbag1.git
VCS Type git
VCS Version develop
Last Updated 2026-08-03
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

MOLA DataSource from ROS1 bag files that does not need a ROS1 installation

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
README.md

mola_input_rosbag1

Distro Build dev Builds Stable release
ROS 2 Humble (u22.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Jazzy (u24.04) Build Status   Version
ROS 2 Kilted (u24.04) Build Status   Version
ROS 2 Lyrical (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version
ROS 2 Rolling (u26.04) Build Status amd64 Build Status
arm64 Build Status 		Version

A MOLA RawDataSource module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without requiring a ROS 1 installation.

The ROS 1 bag (de)serialization, message definitions, and rosbag_storage reader are vendored inside this package (see the ros1/ and mrpt_ros_bridge/ subdirectories), so the module builds and runs in a pure ROS 2 (or even non-ROS) colcon workspace.

Typical uses:

  • Feed a legacy ROS 1 dataset into MOLA LiDAR Odometry or any other MOLA consumer.
  • Turn MOLA into a ROS 1 -> ROS 2 bridge: read a .bag and re-publish its streams as ROS 2 topics + /tf, in real time (see demo below).
  • Inspect raw sensor streams in the MOLA visualizer.

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, mono16, rgb8, bgr8, rgba8, bgra8, bayer_rggb8, bayer_bggr8, bayer_gbrg8, bayer_grbg8)
sensor_msgs/CompressedImage CObservationImage (JPEG, PNG, and any format supported by OpenCV imdecode)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
livox_ros_driver/CustomMsg, livox_ros_driver2/CustomMsg CObservationPointCloud (XYZIRT: intensity=reflectivity, ring=line, time=offset_time)
sensor_msgs/LaserScan CObservation2DRangeScan
sensor_msgs/NavSatFix CObservationGPS
nav_msgs/Odometry CObservationOdometry
tf2_msgs/TFMessage (/tf, /tf_static) transform tree (sensor pose lookup)

Topics with no known mapping are ignored (a one-time warning is logged).

Sensor poses and /tf

The pose of each sensor in the robot body frame is looked up from the bag’s /tf and /tf_static tree, as the transform base_link_frame_id -> <message frame_id>.

  • Set base_link_frame_id to the name of your robot body frame. Note that many ROS 1 bags use namespaced frames (e.g. r1/base_link instead of base_link).
  • If the relevant transform is not yet available when a message is read (e.g. the first few messages before any /tf), that single observation is dropped and a throttled warning lists the currently known tf frames, which is handy for discovering the correct base_link_frame_id.
  • If your bag has no /tf, override the pose per sensor with fixed_sensor_pose (see the example in rosbag1_lidar.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file, or a YAML sequence of paths to merge and replay jointly in time order (e.g. a sensors bag plus a separate ground-truth-only bag).
base_link_frame_id no base_link Robot body frame for tf pose lookup.
time_warp_scale no 1.0 Playback speed multiplier.
read_ahead_length no 15 Number of messages pre-read ahead.
start_paused no false Start playback paused.
sensors no auto Explicit list of topics, types, and pose overrides. If omitted, all topics with a known mapping are exposed automatically using the topic name as sensorLabel.
ground_truth_topic no - Topic (geometry_msgs/PoseStamped or nav_msgs/Odometry) pre-scanned at start-up into a full trajectory, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), e.g. for evo-style evaluation. This is independent from (and can be combined with) listing the same topic under sensors for normal per-timestep publishing as a CObservationRobotPose/CObservationOdometry.

See mola-cli-launchs/rosbag1_lidar.yaml for a fully documented sensors example, and mola-cli-launchs/rosbag1_botanicgarden.yaml for an example combining multiple input bags with ground_truth_topic.

Demos

Two ready-to-use mola-cli launch files are provided under mola-cli-launchs/.

1. Visualize raw LiDAR streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/rosbag1_lidar.yaml

2. ROS 1 -> ROS 2 bridge

Example for the NTU Viral dataset:

ROSBAG1_FILE=/mnt/storage/ntu-viral/eee_01/eee_01.bag \
mola-cli \
  src/mola_input_rosbag1/mola-cli-launchs/rosbag1_ntu_viral.yaml \
  src/mola_input_rosbag1/mola-cli-launchs/publish_to_ros2.yam

Then, in another terminal with ROS 2 sourced:

```bash

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CHANGELOG

Changelog for package mola_input_rosbag1

0.3.0 (2026-07-31)

  • fix clang-format

  • Add use_bag_record_time option for drivers with unsynced header stamps Some drivers (observed on TIERS's Ouster and Livox streams) publish header.stamp from an internal/relative clock never synced to the recording PC's wall clock, which silently breaks ground-truth time lookup for every scan. When set on a sensor, the observation's timestamp is taken from the bag's own message storage time instead.

  • Add support for livox_ros_driver2/CustomMsg too

  • Update mrpt_ros_bridge submodule: drop deprecated point-map overloads Removes the CPointsMapXYZI/CPointsMapXYZIRT fromROS/toROS overloads, which were the source of -Wdeprecated-declarations warnings when building Rosbag1Dataset.cpp; CGenericPointsMap already covers the same conversions.

  • launch: add per-app imgui_app_name for MolaVizImGui Sets a unique imgui_app_name in each launch file so Dear ImGui's layout persistence stores a separate UI configuration per app.

  • Merge pull request #1 from MOLAorg/feature/multi-bag-gt-and-livox-custommsg Multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

  • fix: validate nav_msgs/Odometry GT quaternion; migrate toPointCloud2 off deprecated point map classes

    - Apply the same non-finite-quaternion guard already used for geometry_msgs/PoseStamped to the nav_msgs/Odometry ground-truth branch.

    - Update mrpt_ros_bridge submodule to a commit adding CGenericPointsMap fromROS/toROS overloads for sensor_msgs/PointCloud2, and switch toPointCloud2() to use them instead of the deprecated CPointsMapXYZI/CPointsMapXYZIRT classes.

  • refactor: use CGenericPointsMap instead of deprecated CPointsMapXYZIRT in toLivoxCustomMsg

  • feat: multi-bag input, ground-truth trajectory API, and Livox CustomMsg support

    - 'rosbag_filename' now accepts a YAML sequence of paths (merged and replayed jointly in time order), enabling datasets that ship sensors and ground truth in separate .bag files (e.g. BotanicGarden).

    - New 'ground_truth_topic' param pre-scans a geometry_msgs/PoseStamped or nav_msgs/Odometry topic into a full trajectory_t, exposed via the mola::OfflineDatasetSource ground-truth API (hasGroundTruthTrajectory() / getGroundTruthTrajectory()), in addition to normal per-step publishing. Malformed poses (e.g. non-finite quaternions) are skipped with a warning instead of aborting.

    - Added a livox_ros_driver/CustomMsg -> CObservationPointCloud converter (offset_time -> per-point time, reflectivity -> intensity, line -> ring), so Livox AVIA-style LiDARs publishing this message type are supported.

    - New mola-cli-launchs/rosbag1_botanicgarden.yaml example wiring all of the above for the BotanicGarden dataset's LIO + ground-truth bags.

  • feat: support PoseStamped messages

  • docs: add ros2 bridge example

  • Contributors: Jose Luis Blanco-Claraco

0.2.0 (2026-06-10)

  • Update mrpt_ros_bridge submodule
  • fix: build of ros1 headers in gcc15
  • fix: enforce c++17 so build doesn't fail with GCC-15+
  • Add loader for NTU viral dataset
  • Contributors: Jose Luis Blanco-Claraco

0.1.0 (2026-06-10)

  • fix: don't crash for missing topic names
  • feat: support compressed images and more image encoding formats
  • feat: add rosbag1-info CLI app
  • CI: make Kilted a required build (deps available; only Rolling still allowed to fail)
  • CI: don't let unreleased-distro builds (kilted, rolling) block the matrix
  • CI: build on all active ROS 2 distros (add Kilted and Rolling)
  • Use distro-independent 'bzip2' rosdep key (not available as libbz2-dev on humble)
  • Declare system deps for the vendored ROS1 rosbag reader (BZip2, lz4, Boost)
  • Fix CI build: resolve rosdep keys and vendored bridge build
  • Finish ROS1 bag input module: working reader, demos, docs and CI

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