isaac_ros_rosbag_utils

Source code on GitHub.

Overview

This package contains utilities for working with rosbags.

EDEX Extraction

EDEX is a data format that is used by cuVSLAM for offline processing. This package contains a tool to extract an EDEX dataset from a rosbag.

The tool can be used like:

ros2 run isaac_ros_rosbag_utils extract_edex \
    --config_path <path/to/config/file> \
    --rosbag_path <path/to/rosbag> \
    --edex_path <path/to/edex>

Here <path/to/config/file> is the path to a YAML config file that contains information about which topics should be extracted. For example:

camera_info_topics:
- /my/camera/camera_info
image_topics:
- /my/camera/image_raw

<path/to/rosbag> is the path where the existing rosbag is stored on disk, <path/to/edex> is the path where the new EDEX dataset will be generated.

For more information on the EDEX extraction tool run

ros2 run isaac_ros_rosbag_utils extract_edex --help