RosbagConverter

This repository has been p̶i̶l̶l̶a̶g̶e̶d̶ modified to be able to convert ROS1 bag files to ROS2 bag files. ( Old readme is at https://github.com/leo-drive/ros1_bridge/blob/master/README_Old.md )

The rosbag_converter_node executable in ros1_bridge package converts the ROS1 bag files to .proto_rosbag2 format. Then you should use https://github.com/leo-drive/proto_to_rosbag2 package and its instructions to convert that into ROS2 bag files.

Why not just convert it into ROS2 bag in the same executable?

Linker error nightmares. I simply couldn't link an executable containing both rosbag, rosbag2_cpp and ros1_bridge libraries. If you find a way, please show me the way :)

Why not just convert it into ROS2 bag in the same workspace?

This repository works just fine with noetic and foxy and this repository requires weird sourcing mechanisms and orders to work at all.

On the other hand, the other workspace requires Rolling packages for rosbag2_cpp to function writing stuff.

My Bash Aliases

# You can add following to your ~/.bash_aliases file (if it doesn't exist, create one) to make your life easier
alias soii="source install/setup.bash"
alias soro1="source /opt/ros/noetic/setup.bash"
alias soro2="source /opt/ros/foxy/setup.bash && export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && export ROS_LOCALHOST_ONLY=1"

Building

In order for this workspace to work, you should be very careful with your terminals, shells, .bashrc file.

You need a terminal which hasn't sourced any ROS1 or ROS2 or any packages at all. This is very important.

To confirm do echo ${ROS_DISTRO} and it should return blank line. If it says noetic or foxy check who sourced it and remove/comment it.

mkdir -p ~/rosbag_converter_ws/src
cd ~/rosbag_converter_ws/src
git clone https://github.com/leo-drive/ros1_bridge.git
cd ~/rosbag_converter_ws

# The order is important
soro2
colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1  --symlink-install --packages-skip ros1_bridge
soro1
colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --symlink-install --packages-select ros1_bridge --cmake-force-configure

Once you've built it, if you make small changes to the code, to recompile, repeating last step which is colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --symlink-install --packages-select ros1_bridge --cmake-force-configure is okay, it will compile just fine. (Make sure current terminal has ROS2 and ROS1 sourced in order above.)

Running

Edit this file with your directories:
~/rosbag_converter_ws/src/ros1_bridge/params/test_param.yaml
# defaults:
    path_in_ros1_bag_file: "/home/mfc/bags/038/038.bag" # This file will be used read only
    
    path_out_ros2_serialized_binary: "/home/mfc/bags/038/038.proto_rosbag2" # This file will be overwritten if it exists
    # The saved file names will be with ".proto_rosbag2_000, .proto_rosbag2_001, ..." extensions. With max 1GB file sizes.
    # But you don't need to worry about the numbers in the end.
    
    print_type_correspondences_1_to_2: false # Use this to print what ROS1<->ROS2 conversions are available for you

soro1
soii
soro1 # this is required for libclass_loader.so and a couple more things to link correctly
ros2 run ros1_bridge rosbag_converter_node --ros-args --params-file ~/rosbag_converter_ws/src/ros1_bridge/params/test_param.yaml

Now final structure should look like this:

mfc@mfc-SG13:~/bags/038$ tree
.
├── 038.bag
└── 038.proto_rosbag2

Now you can proceed to follow instructions at https://github.com/leo-drive/proto_to_rosbag2 to convert .proto_rosbag2 to ROS2 bag format(db3).