50 lines
1.4 KiB
Plaintext
50 lines
1.4 KiB
Plaintext
/**
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@page dev-ros1-to-ros2 ROS1 to ROS2 Bag Conversion Guide
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@section gs-ros1-to-ros2-option-1 rosbags
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[rosbags](https://gitlab.com/ternaris/rosbags) is the simplest utility which does not depend on ROS installs at all.
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ROS bag conversion is a hard problem since you need to have both ROS1 and ROS2 dependencies.
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This is what was used to generate the converted ROS2 bag files for standard datasets.
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To do a conversion of a bag file we can do the following:
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@code{.shell-session}
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pip install rosbags
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rosbags-convert V1_01_easy.bag
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@endcode
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@section dev-ros1-to-ros2-option-2 rosbag2 play
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To do this conversion you will need to have both ROS1 and ROS2 installed on your system.
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Also ensure that you have installed all dependencies and backends required.
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The main [rosbag2](https://github.com/ros2/rosbag2) readme has a lot of good details.
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@code{.shell-session}
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sudo apt-get install ros-$ROS2_DISTRO-ros2bag ros-$ROS2_DISTRO-rosbag2*
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sudo apt install ros-$ROS2_DISTRO-rosbag2-bag-v2-plugins
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@endcode
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From here we can do the following.
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This is based on [this issue](https://github.com/ros2/rosbag2/issues/139#issuecomment-516167831).
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You might run into issues with the .so files being corrupted (see [this issue](https://github.com/ros2/rosbag2/issues/94))
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Not sure if there is a fix besides building it from scratch yourself.
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@code{.shell-session}
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source_ros1
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source_ros2
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ros2 bag play -s rosbag_v2 V1_01_easy.bag
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@endcode
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*/
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