alalagong / bag2mat

A ros package to extract and convert data from rosbag files to Matlab mat files

bagconvert

• Takes a rosbag file and converts it to a matlab mat file based on settings specified in a Dictionary and a yaml config file.

  • Dictonary: The dicionary file specified which variables from each message type should be moved to the matlab array. eg sensor_msgs/NavSatFix: t.to_sec(), m.latitude, m.longitude, m.altitude See config/bag2mat_dic.yaml for full example.
  • Configuration: This file specified which topic names should be transferred to matlab and under which variable name. A list of -[topic name, message type, name for variable in matfile] See config/bag2mat_config.yaml for full example.

• Currently needs the following packages:

  • rosbag
  • roslib
  • scipy

• Put this repo in the src folder of ros workspace and run

  catkin_make
  source devel/setup.bash
  usage: bag2matpy [-h] [-c CONFIG_FILE] [-d DICTIONARY] [-i input_bagfile] 
  
  

  Complete List of Arguments:
  
  -h, --help            show this help message and exit
  -i INPUT_BAGFILE, --input_bagfile INPUT_BAGFILE
                        Input rosbag file to input
  -o OUTPUT_DIR, --output_dir OUTPUT_DIR
                        Output dir for matfile
  -c CONFIG_FILE, --config_file CONFIG_FILE
                        Yaml file which specifies topic names to convert
  -d DICTIONARY, --dictionary DICTIONARY
                        Dictionary file which specifies how to read the topic
  -s, --subtract_start_time
                        Boolean flag to specify whether to include offset_time obtained by subtracting bag start_time from all timestamps