apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
37 lines
1.1 KiB
ReStructuredText
37 lines
1.1 KiB
ReStructuredText
Convert rosbag versions
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=======================
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The :py:mod:`rosbags.convert` package includes a CLI tool to convert legacy rosbag1 files to rosbag2 and vice versa.
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Features
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--------
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- Reasonably fast, as it converts raw ROS1 messages to raw CDR messages without going though deserialization and serialization
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- Tries to match ROS1 message type names to registered ROS2 types
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- Automatically registers unknown message types present in the legacy rosbag file for the conversion
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- Handles differences of ``std_msgs/msg/Header`` between both ROS versions
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Limitations
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-----------
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- Refuses to convert unindexed rosbag1 files, please reindex files before conversion
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- Currently does not handle split bags
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- Only ROS2 default message types are supported when converting rosbag2 to rosbag1
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Usage
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-----
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.. code-block:: console
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# Convert "foo.bag", result will be "foo/"
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$ rosbags-convert foo.bag
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# Convert "bar", result will be "bar.bag"
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$ rosbags-convert bar
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# Convert "foo.bag", save the result as "bar"
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$ rosbags-convert foo.bag --dst /path/to/bar
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# Convert "bar", save the result as "foo.bag"
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$ rosbags-convert bar --dst /path/to/foo.bag
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