scripts.md

Running Scripts

To run the scripts inside the scripts folders ros1_ws/ros1_scripts or ros2_ws/ros2_scripts you are probably going to need to be inside the corresponding ROS1 or ROS2 environment, respectively. You can check if this is the case for the script you want to run by verifying if any ros-related packages are being imported at the beginning (such as the rosbag, rospy or rclpy packages).

The scripts can be run inside the docker environments directly by installing the dependencies listed in the corresponding requirements.txt files in the folder:

python3 -m pip install -r scripts/requirements.txt

You can also create a virtual environment to isolate dependencies. Useful if running it inside your own machine:

# install the virtual environment manager
sudo apt install python3-venv
# create virtual environment and activate it
python3 -m venv venv
source venv/bin/activate
# install requirements
python3 -m pip install -r scripts/requirements.txt

All scripts can be run with the --help parameter to display the description and arguments they take in, such as:

python3 ros1_ws/src/ros1_scripts/extract_rosbag_data.py --help

we recommend reading this description to understand how the script works before running any commands.

Available Scripts

• extract_rosbag_data.py: given a rosbag, extracts all topic messages as plaintext elements, such as images or CSVs.
• fix_odom_vel.py: generates a bag with an odometry fix (available also for download), check odometry_fix.md for info.
• merge_filter_rosbags.py: merges two rosbags as one, and filters topics for select ones.
• rosbag_conversion.sh: runs the conversion of a ROS1 rosbag to a ROS2 rosbag, check converting_ros1_to_ros2.md for info.