cnspy_rosbag2csv -- Package

A package to convert different [ROS1] messages for POSES. Messages contained in rosbag files can be converted into CSV files in different output formats using ROSBAG2CSV. The other way round is supported by the class CSV2ROSbag, taking multiple CSV files and writing them into a single bag file.

The supported ROS1 message types are defined in ROSMessageTypes (basically all ROS1 geometry_msgs).

The package is easily extendable (Open-Closed-Principle). Just create a new ROSMessageType, and make an addition to

• ROSMsg2CSVLine
• CSVLine2ROSMsg

The supported CSV formats for poses are defined in the enum CSVFormatPose of the package cnspy_spatial_csv_formats.

Installation

Install the current code base from GitHub and pip install a link to that cloned copy

git clone https://github.com/aau-cns/cnspy_rosbag2csv.git
cd cnspy_rosbag2csv
pip install -e .

or the official package via

pip install cnspy-rosbag2csv

Dependencies

This package requires a local ROS installation.

It is part of the cnspy eco-system of the cns-github group.
Main dependencies are:

• PyYAML
• tqdm
• rospy (ROS)
• spatialmath-python
• cnspy_spatial_csv_formats

Run from terminal

• CSV2ROSbag
• ROSbag2CSV
• ROSbag_ReTimestamp
• ROSbagMerge

CSV2ROSbag

Convert multiple trajectory CSV files into a bag file.

rosbag2csv$ python CSV2ROSbag.py -h 
usage: CSV2ROSbag.py [-h] [--bagfile_name BAGFILE_NAME]
                     [--topics [TOPICS [TOPICS ...]]]
                     [--filenames [FILENAMES [FILENAMES ...]]]
                     [--fmt_list [{GEOMETRY_MSGS_POINTSTAMPED,GEOMETRY_MSGS_POSE,GEOMETRY_MSGS_POSESTAMPED,GEOMETRY_MSGS_POSEWITHCOVARIANCE,GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED,GEOMETRY_MSGS_QUATERNION,GEOMETRY_MSGS_QUATERNIONSTAMPED,GEOMETRY_MSGS_TRANSFORM,GEOMETRY_MSGS_TRANSFORMSTAMPED,GEOMETRY_MSGS_VECTOR3,GEOMETRY_MSGS_VECTOR3STAMPED,NOT_SUPPORTED} [{GEOMETRY_MSGS_POINTSTAMPED,GEOMETRY_MSGS_POSE,GEOMETRY_MSGS_POSESTAMPED,GEOMETRY_MSGS_POSEWITHCOVARIANCE,GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED,GEOMETRY_MSGS_QUATERNION,GEOMETRY_MSGS_QUATERNIONSTAMPED,GEOMETRY_MSGS_TRANSFORM,GEOMETRY_MSGS_TRANSFORMSTAMPED,GEOMETRY_MSGS_VECTOR3,GEOMETRY_MSGS_VECTOR3STAMPED,NOT_SUPPORTED} ...]]]
                     [--result_dir RESULT_DIR] [--verbose]

CSV2ROSbag: read CSV files and convert lines to specified ROS msg and store
them into a rosbag

optional arguments:
  -h, --help            show this help message and exit
  --bagfile_name BAGFILE_NAME
                        name of bag file (no path!)
  --topics [TOPICS [TOPICS ...]]
                        topics to create
  --filenames [FILENAMES [FILENAMES ...]]
                        csv filename of corresponding topic
  --fmt_list [{GEOMETRY_MSGS_POINTSTAMPED,GEOMETRY_MSGS_POSE,GEOMETRY_MSGS_POSESTAMPED,GEOMETRY_MSGS_POSEWITHCOVARIANCE,GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED,GEOMETRY_MSGS_QUATERNION,GEOMETRY_MSGS_QUATERNIONSTAMPED,GEOMETRY_MSGS_TRANSFORM,GEOMETRY_MSGS_TRANSFORMSTAMPED,GEOMETRY_MSGS_VECTOR3,GEOMETRY_MSGS_VECTOR3STAMPED,NOT_SUPPORTED} [{GEOMETRY_MSGS_POINTSTAMPED,GEOMETRY_MSGS_POSE,GEOMETRY_MSGS_POSESTAMPED,GEOMETRY_MSGS_POSEWITHCOVARIANCE,GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED,GEOMETRY_MSGS_QUATERNION,GEOMETRY_MSGS_QUATERNIONSTAMPED,GEOMETRY_MSGS_TRANSFORM,GEOMETRY_MSGS_TRANSFORMSTAMPED,GEOMETRY_MSGS_VECTOR3,GEOMETRY_MSGS_VECTOR3STAMPED,NOT_SUPPORTED} ...]]
                        CSV format
  --result_dir RESULT_DIR
                        directory to store results [otherwise bagfile name
                        will be a directory]
  --verbose

Example

rosbag2csv$ python CSV2ROSbag.py --bagfile_name dummy.bag --topics /pose_est /pose_gt --filenames ../sample_data/ID1-pose-est-cov.csv ../sample_data/ID1-pose-gt.csv --fmt_list GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED GEOMETRY_MSGS_POSESTAMPED --verbose

ROSBAG2CSV

Convert a ROS bagfile into multipe CSV files.

rosbag2csv$ python ROSbag2CSV.py -h
usage: ROSbag2CSV.py [-h] [--bagfile BAGFILE] [--topics [TOPICS [TOPICS ...]]]
                     [--filenames [FILENAMES [FILENAMES ...]]]
                     [--result_dir RESULT_DIR] [--verbose]
                     [--format {PoseCov,PoseWithCov,TUM,TUM_short,none}]

ROSbag2CSV: extract and store given topics of a rosbag into a CSV file

optional arguments:
  -h, --help            show this help message and exit
  --bagfile BAGFILE     input bag file
  --topics [TOPICS [TOPICS ...]]
                        desired topics
  --filenames [FILENAMES [FILENAMES ...]]
                        csv filename of corresponding topic
  --result_dir RESULT_DIR
                        directory to store results [otherwise bagfile name
                        will be a directory]
  --verbose
  --format {PoseCov,PoseWithCov,TUM,TUM_short,none}
                        CSV format

Example

rosbag2csv$ python ROSbag2CSV.py --bagfile ../sample_data/dummy.bag --topics /pose_est /pose_gt --verbose --filename ../sample_data/NEW-ID1-pose-est-cov.csv ../sample_data/NEW-ID1-pose-gt.csv --format PoseWithCov

ROSbagMerge

Merges all bag file in a specified directory or from a provided list into one bag file

rosbag2csv$ python ROSbagMerge.py -h
usage: ROSbagMerge.py [-h] [--outbag_name OUTBAG_NAME] [--input_dir INPUT_DIR] [--input_files INPUT_FILES [INPUT_FILES ...]] [--verbose] [--use_header_timestamp] [-l WHITE_LIST [WHITE_LIST ...]]

ROSbagMerge: merge all bag file in a specified directory or from a provided list into one bag file

optional arguments:
  -h, --help            show this help message and exit
  --outbag_name OUTBAG_NAME
                        name of created bag file
  --input_dir INPUT_DIR
                        directory containing bag files to be merged
  --input_files INPUT_FILES [INPUT_FILES ...]
                        a list of files to be merged
  --verbose
  --use_header_timestamp
                        overwrites the bag time with the header time stamp
  -l WHITE_LIST [WHITE_LIST ...], --white_list WHITE_LIST [WHITE_LIST ...]
                        white list of topic names or fractions of it that are expected

Example

rosbag2csv$ python ROSbagMerge.py --outbag_name /tmp/merged.bag --input_files /tmp/uav10/_2024-02-06-16-33-50.bag /tmp/uav11/_2024-02-06-16-33-50.bag /tmp/uav12/_2024-02-06-16-33-50.bag --verbose --white_list mavros hw_api /tf data_handler vrpn_client uvdar/
rosbag2csv$ python ROSbagMerge.py --outbag_name /tmp/sim_tp.bag --input_dir /tmp/MultiAgentUWB/EuRoC_D140_A0_Mesh0/run1/bags --verbose --use_header_timestamp

ROSbag_ReTimestamp

Sets the rosbag time to the timestamp of the msgs header

rosbag2csv$ python ROSbag_ReTimestamp.py -h
usage: ROSbag_ReTimestamp.py [-h] [--outbag_name OUTBAG_NAME] --inbag_name INBAG_NAME [--verbose] [--use_header_timestamp]

ROSbag_ReTimestamp: sets the rosbag time to the timestamp of the msgs header

optional arguments:
  -h, --help            show this help message and exit
  --outbag_name OUTBAG_NAME
                        name of created bag file
  --inbag_name INBAG_NAME
                        name of original bag file
  --verbose
  --use_header_timestamp
                        overwrites the bag time with the header time stamp

License

Software License Agreement (GNU GPLv3 License), refer to the LICENSE file.

Sharing is caring! - Roland Jung