rosbags

Rosbags

Rosbags is the pure python library for everything rosbag. It contains:

highlevel easy-to-use interfaces,
rosbag2 reader and writer,
rosbag1 reader and writer,
extensible type system with serializers and deserializers,
efficient converter between rosbag1 and rosbag2,
and more.

Rosbags does not have any dependencies on the ROS software stacks and can be used on its own or alongside ROS1 or ROS2.

Rosbags was developed for MARV, which requires a fast, correct, and flexible library to read, manipulate, and write the various rosbag file formats.

Getting started

Rosbags is published on PyPI and does not have any special dependencies. Simply install with pip:

pip install rosbags

Read and deserialize messages from rosbag1 or rosbag2 files:

from pathlib import Path

from rosbags.highlevel import AnyReader
from rosbags.typesys import Stores, get_typestore

bagpath = Path('/home/ros/rosbag_2020_03_24')

# Create a type store to use if the bag has no message definitions.
typestore = get_typestore(Stores.ROS2_FOXY)

# Create reader instance and open for reading.
with AnyReader([bagpath], default_typestore=typestore) as reader:
    connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
    for connection, timestamp, rawdata in reader.messages(connections=connections):
         msg = reader.deserialize(rawdata, connection.msgtype)
         print(msg.header.frame_id)

Convert between rosbag versions:

# Convert "foo.bag", result will be "foo/"
rosbags-convert foo.bag

# Convert "bar", result will be "bar.bag"
rosbags-convert bar

# Convert "foo.bag", save the result as "bar"
rosbags-convert foo.bag --dst /path/to/bar

# Convert "bar", save the result as "foo.bag"
rosbags-convert bar --dst /path/to/foo.bag

Documentation

Read the documentation for further information.

Contributing

Thank you for considering to contribute to rosbags.

To submit issues or create merge requests please follow the instructions provided in the contribution guide.

By contributing to rosbags you accept and agree to the terms and conditions laid out in there.

Development

Clone the repository and setup your local checkout:

git clone https://gitlab.com/ternaris/rosbags.git

cd rosbags
python -m venv venv
. venv/bin/activate

pip install -r requirements-dev.txt
pip install -e .

This creates a new virtual environment with the necessary python dependencies and installs rosbags in editable mode. The rosbags code base uses pytest as its test runner, run the test suite by simply invoking:

pytest

To build the documentation from its source run sphinx-build:

sphinx-build -a docs public

The entry point to the local documentation build should be available under public/index.html.

Support

Professional support is available from Ternaris.

Release files for rosbags 0.10.0

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for rosbags 0.10.0
File	Size	Uploaded
rosbags-0.10.0.tar.gz	172.1 kB	Apr 12, 2024	Details

Built distribution (wheel)

Table of built distributions (wheels) for rosbags 0.10.0
File	Interpreter	ABI	Platform	Reset
rosbags-0.10.0-py3-none-any.whl 109.7 kB Apr 12, 2024	Python 3	none	any	Details

Total release size: 281.8 kB

Release files / rosbags-0.10.0.tar.gz

Download URL	rosbags-0.10.0.tar.gz
Size	172.1 kB
Tags	Source
SHA-256 checksum How to use checksums	`095f2e88a159a0af86f97dc873038097653487faea49cc76ba1c1448793960d1`
BLAKE2b-256 checksum How to use checksums	`e15fba3cd07cfa373b87852cfe354ac123a73178548b921d72b74742a3afd3dd`
Upload date	Apr 12, 2024
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/5.0.0 CPython/3.11.8`

Release files / rosbags-0.10.0-py3-none-any.whl

Download URL	rosbags-0.10.0-py3-none-any.whl
Size	109.7 kB
Tags	Python 3
SHA-256 checksum How to use checksums	`7e71745b646ba2284144efad5cc9fd397a1218d566081e0b9a123e375f874ae1`
BLAKE2b-256 checksum How to use checksums	`1e6159470fd70e74e554ecd7fd80bd465b0c5655c7b47e78ac9141b602f92db3`
Upload date	Apr 12, 2024
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/5.0.0 CPython/3.11.8`