autoware_msg_bag_converter

This package converts bag containing type autoware_auto_msg to autoware_msg.

preparation

1. create ros2 workspace for converter (ex. $HOME/ros_ws/converter)
2. clone this repository into converter workspace
3. clone dependency repos
4. build converter workspace

Example command is below.

mkdir -p $HOME/ros_ws/converter/src
cd $HOME/ros_ws/converter/src
git clone https://github.com/autowarefoundation/autoware_msg_bag_converter.git
cd autoware_msg_bag_converter
vcs import .. < dependency.repos
cd $HOME/ros_ws/converter
rosdep update
rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release

usage

cd $HOME/ros_ws/converter
source install/setup.bash
cd src/autoware_msg_bag_converter/autoware_msg_bag_converter

# convert one bag
python3 main.py ${input_bag_dir} ${output_bag_dir}

# convert multi bags in directory
python3 main.py ${input_bag_dir_root} ${output_bag_dir_root} -d

# example
$ tree
bag_root # <- input_bag_dir_root
├── sample_mcap # <- input_bag_dir
│   ├── metadata.yaml
│   └── sample_mcap_0.db3
└── sample_sqlite3 # <- input_bag_dir
    ├── metadata.yaml
    └── sample_sqlite3_0.db3

demo

convert the tutorial bag file. Conversion is not necessary because the bag has been uploaded already changed to autoware_msg since 6/7/2024