I am excited to announce the release of ROS2 Bag Exporter, a powerful and flexible c++ tool for exporting ROS2 (Humble Hawksbill) bag files into various formats, including point cloud (PCD), IMU, GPS, laser scan, and image data. This tool allows users to extract and convert data from ROS2 bags for analysis, visualization, and processing outside of the ROS ecosystem. It supports a wide range of message types, including PointCloud2, IMU, GPS, LaserScan, and both color and infrared images.
Key Features:
Support for Multiple Message Types
- PointCloud2: Export point cloud data to PCD files for advanced processing and visualization.
- Image: Convert image messages (RGB or IR) to PNG format for offline analysis.
- DepthImage: Export depth images with appropriate encoding for further processing.
- LaserScan: Extract laser scan data for mapping or navigation purposes.
- IMU and GPS: Seamlessly export IMU (inertial measurement unit) and GPS data for precise localization and movement analysis.
Configurable Export Settings
You can configure bag paths, output directories, and storage formats via a YAML configuration file, providing maximum flexibility. Topics can be extracted at specific intervals, giving you control over the data density for various topics.
Check the code: