saurabh1002 / rosbag_reader

Read ROS1 bag files containing PointCloud2 data using c++

C++ parser for Rosbag Files

• Parse useful data from a bag file and save it to local disk

• No ROS required to be installed on your system

• Supported RosBag Version: V2.0

• Supported Message Types:

  • sensor_msgs/PointCloud2 | output format: PLY - Polygon File Format

• Supported Bag Compression Types:

  • None

Install Instructions

git clone https://github.com/saurabh1002/rosbag_reader.git
cd rosbag_reader
mkdir build && cd build
cmake .. && make -j$(nproc)

Usage

• You can provide the bag file path as well as the output paths in the config file
• Currently we only support PointCloud2 message type, which can be extracted using the following command:

cd build 
./parsePointCloud2Msgs ../config.yaml