ROS index logo ROS Index
  1. Home
  2. Repos
 
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

File truncated at 100 lines see the full file

CONTRIBUTING

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

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

File truncated at 100 lines see the full file

CONTRIBUTING

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

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

File truncated at 100 lines see the full file

CONTRIBUTING

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

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

File truncated at 100 lines see the full file

CONTRIBUTING

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

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

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.
Repo symbol

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 2026-06-04
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_input_rosbag1 0.0.1

README

mola_input_rosbag1

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

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

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

Typical uses:

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

Supported message types

ROS 1 message type MOLA / MRPT observation
sensor_msgs/Imu CObservationIMU
sensor_msgs/Image CObservationImage (mono8, rgb8, bgr8)
sensor_msgs/PointCloud2 CObservationPointCloud (XYZ / XYZI / XYZIRT) or CObservationRotatingScan
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 ros1bag_just_view.yaml).

Parameters

Param Required Default Description
rosbag_filename yes - Path to the input .bag file.
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.

See mola-cli-launchs/ros1bag_just_view.yaml for a fully documented sensors example.

Demos

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

1. Visualize raw streams

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_just_view.yaml

2. ROS 1 -> ROS 2 bridge

ROSBAG1_FILE=/path/to/dataset.bag \
  mola-cli src/mola_input_rosbag1/mola-cli-launchs/ros1bag_to_ros2.yaml

Then, in another terminal with ROS 2 sourced:

ros2 topic list
ros2 topic echo /your_topic
rviz2

If your bag uses namespaced frames, point the body frame at the right one, e.g.:

```bash MOLA_BASE_LINK_FRAME=r1/base_link \

File truncated at 100 lines see the full file

CONTRIBUTING