rosbag-filter 0.2.0

Unified ROS1 and ROS2 bag filtering with CLI and Tk GUI.

ROS Bag Filter

Unified ROS1 and ROS2 bag filtering with one Python package, one CLI, and one Tk GUI.

Features

• ROS1 .bag and ROS2 rosbag2 directory support from the same codebase
• Topic whitelist filtering
• Absolute ROS-time or relative-time windows
• Optional PointCloud2 spatial filter with independent x/y/z min/max bounds
• Background GUI execution with progress logging and cancellation
• PyPI-ready packaging with rosbag-filter and rosbag-filter-app entry points

Install

Python 3.8+ is supported.

pip install "rosbag-filter[gui]"

tkinter is a system dependency on Linux. On Ubuntu:

sudo apt-get install python3-tk

CLI

Show help:

rosbag-filter --help

Filter a ROS1 bag:

rosbag-filter \
  --input /data/run.bag \
  --output /data/run_filtered.bag \
  --topics /imu,/tf \
  --time-mode relative \
  --start 5.0 \
  --end 25.0

Filter a ROS2 bag and apply PointCloud2 bounds:

rosbag-filter \
  --input /data/run_ros2 \
  --output /data/run_ros2_filtered \
  --topics /cloud_registered,/tf \
  --time-mode ros \
  --start 1710000000.0 \
  --end 1710000030.0 \
  --workers 8 \
  --pc2-topic /cloud_registered \
  --pc2-x-min -1.0 \
  --pc2-x-max 2.0 \
  --pc2-z-max 1.5

GUI

Launch the GUI:

rosbag-filter-app

The PointCloud2 controls are hidden in the Advanced PointCloud2 Filter panel by default. Expand the panel only when you want to enable spatial filtering and set x/y/z bounds.

rosbag-filter-gui is also installed as a compatibility alias.

For direct source usage, the legacy wrappers still work:

python3 rosbag_filter_app.py
python3 rosbag2_filter_gui.py

Development

Install dev dependencies:

pip install -e ".[dev,gui]"

Run tests:

pytest

Build distributions:

python -m build
python -m twine check dist/*

Release

The repository includes GitHub Actions workflows for CI, TestPyPI, and PyPI trusted publishing.

Before the first release:

1. Create the rosbag-filter project on TestPyPI.
2. Create the rosbag-filter project on PyPI.
3. Configure the testpypi and pypi GitHub environments.
4. Add trusted publishing for this GitHub repository in both indexes.

Suggested release flow:

1. Run the TestPyPI workflow manually.
2. Validate installation from TestPyPI in a clean environment.
3. Push a version tag like v0.2.0 to publish to PyPI.