ros2bagsend 1.0.0

A tool that uses simple logic to send topics recorded in ros2 bag one cycle at a time (not a strict cycle).

ros2bagsend

A tool that uses simple logic to send topics recorded in ros2 bag one cycle at a time (not a strict cycle). https://github.com/PINTO0309/simple-ros2-processing-tools

1. Install ROS2

DISTRO=humble

sudo apt update && sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install -y \
ros-${DISTRO}-rosbag2 \
ros-${DISTRO}-vision-opencv \
ros-${DISTRO}-vision-msgs \
ros-${DISTRO}-image-pipeline

2. Install ros2bagsend

pip install ros2bagsend

3. Usage

ros2bagsend --ros-args -p bag_file_path:='test.db3'

topic summary ########################################
topic_info.name0: /camera/aligned_depth_to_color/image_raw
topic_info.name1: /camera/color/camera_info
topic_info.name2: /camera/color/image_raw
topic_info.name3: /zed2i/zed_node/depth/depth_registered
topic_info.name4: /zed2i/zed_node/rgb/camera_info
topic_info.name5: /zed2i/zed_node/rgb_raw/image_raw_color
######################################################
Press Enter to publish the next frame... (Interrupted by 'q' key)
1./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424121013788
1./zed2i/zed_node/rgb_raw/image_raw_color: /zed2i/zed_node/rgb_raw/image_raw_color time_stamp: 1703229424128303140
Press Enter to publish the next frame... (Interrupted by 'q' key)
2./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424128367120
2./zed2i/zed_node/depth/depth_registered: /zed2i/zed_node/depth/depth_registered time_stamp: 1703229424134155118
2./camera/color/camera_info: /camera/color/camera_info time_stamp: 1703229424138749661
2./camera/aligned_depth_to_color/image_raw: /camera/aligned_depth_to_color/image_raw time_stamp: 1703229424150239208
2./camera/color/image_raw: /camera/color/image_raw time_stamp: 1703229424154925667
Press Enter to publish the next frame... (Interrupted by 'q' key)
3./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424184716213
3./zed2i/zed_node/rgb_raw/image_raw_color: /zed2i/zed_node/rgb_raw/image_raw_color time_stamp: 1703229424191219846
Press Enter to publish the next frame... (Interrupted by 'q' key)
4./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424191263193
4./zed2i/zed_node/depth/depth_registered: /zed2i/zed_node/depth/depth_registered time_stamp: 1703229424195592537
4./camera/aligned_depth_to_color/image_raw: /camera/aligned_depth_to_color/image_raw time_stamp: 1703229424201049523
4./camera/color/camera_info: /camera/color/camera_info time_stamp: 1703229424201093864
4./camera/color/image_raw: /camera/color/image_raw time_stamp: 1703229424204340722
Press Enter to publish the next frame... (Interrupted by 'q' key)
 :
 :