ROS2 convert between imu/img and bag

Here are three package:

• subscribe to a ROS2 image topic and stores received messages to PNG files or extract images from a ROS2 BAG with the package ros2_bag_to_image.

• extract imu data from a ROS2 BAG with package ros2_bag_imu

• write imu data or/and images to ROS2 BAG with package data_to_bag

Whether it's extracting pictures/imu or writing pictures/imu. Their format is as follows:

IMU :

IMAGE :

Prerequisites

• ROS2
• Opencv

build

mkdir -p WS_space/src
cd WS_space
git clone http://github.com/freesix/covert_ros2.git src/
source /opt/ros/humble/setup.bash
colcon build

run

Topic to Image

Subscribes to a ROS2 Image topic and stores received messages to PNG files.

How to launch:

ros2 launch ros2_bag_to_image topic_to_image.launch.py \
    input/topic:=/camera/image_rect compressed:=True

The images are exported in lossless PNG format.

Set compressed to True to subscribe to a compressed image_transport.

Parameters

Parameter	Default	Description
input/topic	/image_raw	ROS2 Topic to subscribe
output/path	/tmp/	Path where to store the PNG files.

BAG To Image

Opens, reads, extracts and saves sensor_msgs/msg/Image or sensor_msgs/msg/CompressedImages from ROS2 bag.

Stores all the topics in the defined output path, names the images as: stampsecs_stampnsecs.png

How to launch:

$ ros2 launch ros2_bag_to_image bag_to_image.launch.py \
        input/path:=/PATH_TO/input_bag/ \
        input/topics:="['camera1/image_rawcompressed', 'camera2/image_raw']"

Parameters

Parameter	Default	Description
input/path		Input Rosbag Path
input/bag_format	cdr
input/bag_storage_id	sqlite3
input/topics		List of Input Topics in the form "['topic1', 'topic2', 'topicN']"
output/path	/tmp/	Output path PNG files

BAG To Imu

Extract imu from ROS2 bag, imu topic likes sensor_msgs::msg::Imu. The storage format is imu

How to launch:

ros2 launch ros2_bag_to_imu topic_to_imu.launch.py \
    input/path:=/imu output/path:=/out input/topics:="topic1"

Parameters

Parameter	Default	Description
input/path		Input Rosbag Path
input/bag_format	cdr
input/bag_storage_id	sqlite3
input/topics		Input Topics in the form "topic1"
output/path	/tmp/	Output path of imu.csv

Imu or/and Image To BAG

Imu raw data or/and Image raw write a ROS2 bag, you can just write imu or image, or both.

note: your imu data is named imu.csv. image path is /Yourpath/topic1/, because maybe you have multiple topics.

How to launch:

ros2 launch data_to_bag data_to_bag.launch.py  \
    input/path:=/imu output/path:=/out input/imu_topic:="/imu0/"  \ 
    input/img_topics:="['topic1', ..., 'topicN']"

if you just want to write imu

How to launch:

ros2 launch data_to_bag imu_to_bag.launch.py  \
    input/path:=/imu output/path:=/out input/imu_topic:="/imu0/" 

if you just want to write image

How to launch:

ros2 launch data_to_bag img_to_bag.launch.py \ 
    input/path:=/img output/path:=/out input/img_topics:="['topic1', 'topic2']"