Tartan Rosbag Exporter

Overview

This repository provides customised tools based on the original Geekgineer/ros2_bag_exporter project, tailored specifically for the University of Edinburgh's Autonomous Vehicle project.

The repository includes tools and a Docker environment for reading and exporting sensor data from ROS 2 bag files, facilitating data post-processing outside the ROS 2 ecosystem.

For general-purpose functionality, please refer to the original repository linked above.

Usage

Build and run the Docker container

To build and run the Docker container interactively, use:

./runtime.sh -p <rosbags_directory> -o <exported_data_directory>

where:

• <rosbags_directory>: Parent directory containing your ROS bags recordings
• <exported_data_directory>: Parent directory where the data is/will be exported.

The input directories will be mounted in /opt/ros_ws/rosbags and /opt/ros_ws/exported_data in the container respectively.

Export your ROS bags

Once inside the Docker container, run the following command:

cd /opt/ros_ws

ros2 run ros2_bag_exporter bag_exporter --ros-args \
  -p rosbags_directory:=./rosbags/<my_recording_directory> \
  -p output_directory:=./exported_data \
  -p config_file:=./config/av_sensor_export_config.yaml

You will find the exported data inside a directory in /opt/ros_ws/exported_data. Please see ros2_bag_exporter for further reference.

Run in development mode

If you plan to modify this package, use dev.sh instead to run docker container in development mode. The ros2_bag_exporter package will be mounted in /opt/ros_ws/src automatically and an alias colcon_build will be available for compilation.

./dev.sh -p <rosbags_directory> -o <exported_data_directory>

License

This project is licensed under the Apache License 2.0.

Contact

Maintainer: Hector Cruz (hect95)

Email: hcruzgo@ed.ac.uk