mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
jazzy

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
kilted

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
lyrical

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
rolling

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

CONTRIBUTING

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

mola_input_rosbag1 repository

mola_input_rosbag1

ROS Distro
humble

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 (-)

Packages

Name	Version
mola_input_rosbag1	0.3.0

README

mola_input_rosbag1

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

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

mola_input_rosbag1 repository

ROS Distrohumble

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrojazzy

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrokilted

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrolyrical

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrorolling

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrohumble

Repository Summary

Packages

README

mola_input_rosbag1

Supported message types

Sensor poses and /tf

Parameters

Demos

1. Visualize raw LiDAR streams

2. ROS 1 -> ROS 2 bridge

CONTRIBUTING

mola_input_rosbag1 repository

ROS Distrohumble

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
jazzy

Sensor poses and `/tf`

ROS Distro
kilted

Sensor poses and `/tf`

ROS Distro
lyrical

Sensor poses and `/tf`

ROS Distro
rolling

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble

Sensor poses and `/tf`

ROS Distro
humble