This is a repository on how to recover Ros2 bags that were corrupted as in they closed before a graceful shutdown. BOTH formats .db3 and .mcap require a footer/metadata so require a tool to fix this. THE ROS2 COMMAND REINDEX DOES NOT WORK FOR EITHER BAG FORMAT IN HUMBLE!
Check this https://codebeautify.org/sql-to-csv-converter to sql-to-csv converter for the format
The SQLite3 Recovery tool comes from the precompiled binary. Link is here https://www.sqlite.org/download.html We also assume you have ROS2 Humble installed along with numpy for this repostiroy to work.
- Use the SQLite3 tool to create a .sql file DO THE .db3 NOT THE DIRECTORY!
chmod +x sqlite3 ./sqlite3 path_to_corrupt.db3 .recover >data.sql - Convert sql file to csv (Only with the ROS2 bag)
python3 convert_sql_to_csv.py --input path/to/file.sql --output path/to/output_base.csv
- Edit the jupyter Notebook to point the topic id and file name (Someone can consider converting .ipnyb to python script and just save images)!
This tool comes from foxglove stuido so use that for plotting https://github.com/foxglove/mcap/releases/tag/releases%2Fmcap-cli%2Fv0.0.46
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Use the mcap tool in the repository
chmod +x mcap-linux-amd64 ./mcap-linux-amd64 recover in.mcap -o out.mcap