mola_input_rawlog

Offline RawDataSource from MRPT rawlog datasets

Provided MOLA modules:

• RawlogDataset, type RawDataSourceBase.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

Changelog for package mola_input_rosbag2

Forthcoming

• feat: decode sensor_msgs/msg/CompressedImage topics in Rosbag2Dataset.
• perf: avoid a redundant image-buffer copy and heap allocation per frame in toCompressedImage().
• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• Merge pull request #176 from MOLAorg/fix/multi-ros-distro-build fix: time header field in different ros distros

• fix: time header field in different ros distros

• fix: extend optional wall-clock time source to odometry observations too

• Merge pull request #175 from MOLAorg/feature/rosbag2-imu-bag-recv-timestamp mola_input_rosbag2: opt-in per-sensor bag-recv-time timestamp override

• mola_input_rosbag2: add opt-in use_bag_recv_time_as_timestamp per-sensor flag Some sensor drivers (observed with an IMU driver) stamp messages using a monotonic/uptime clock instead of wall-clock epoch time, while other sensors in the same bag are correctly stamped. This desyncs the affected sensor from the rest and repeatedly trips the "mis-timestamped sensors" time reference reset in Rosbag2Dataset::next(). When set for a given sensor in the 'sensors' YAML list, its observations are timestamped using the bag's own recv/storage time instead of the message header stamp. Defaults to false (no behavior change).

• Merge pull request #164 from MOLAorg/feat/rosbag2-multifile feat: rosbag2 parser can open several files

• fix: clang-format brace style in for loop Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>

• fix(rosbag2): collect topics from all bags; skip empty intermediate bags

  - Aggregate topic metadata across all bags during init instead of only reading from bag 0, so sensors in later bags are not silently missed.

  • Assert type consistency when the same topic appears in multiple bags.

  - Use a while loop (not if) when advancing to the next bag, so empty intermediate bags are skipped without calling read_next() on an exhausted reader.

• feat: rosbag2 parser can open several files

• feat: rosbag2 input new option 'max_duration_sec'

• Contributors: Jose Luis Blanco-Claraco

2.9.0 (2026-05-11)

• Merge pull request #143 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
• bump min req cmake version to 3.22
• Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

2.7.0 (2026-04-22)

• Merge pull request #128 from MOLAorg/feat/docs-cookbook Feat/docs cookbook
• sanity checks; expand docs
• Docs: explain more odometry source cases
• rosbag2: Enable custom /tf names (e.g. for namespaces)
• Merge pull request #121 from MOLAorg/fix/clean-up-old-mrpt-version-checks Clean up: remove old mrpt version fallback code sections
• Contributors: Jose Luis Blanco-Claraco

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

• Support Zstd-compressed rawlog files too
• Merge pull request #108 from MOLAorg/feat/use-gps-msgs Support gps_msgs data types too for ROS2
• Support gps_msgs as alternative to NavSatFix
• Merge pull request

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