How to modify rosbag？如何修改rosbag？

Ubuntu16.04，kinetic

 

本文示例修改使用rosbag中的frame id

 

在http://wiki.ros.org/bag_tools中，能找到

change_camera_info.py 

usage: change_frame_id.py [-h] -o OUTPUT_BAGFILE -i INPUT_BAGFILE -f FRAME_ID
                          -t TOPIC [TOPIC ...]
 reate a new bagfile from an existing one replacing the frame id of requested topics.  optional arguments:  -h, --help show this help message and exit  -o OUTPUT_BAGFILE output bagfile  -i INPUT_BAGFILE input bagfile  -f FRAME_ID desired frame_id name in the topics  -t TOPIC [TOPIC ...] topic(s) to change

 

准備修改包的frame id，問題是，發現完整版的ros似乎沒有安裝bag_tools？什么回事呢？

 

看了F&A后，發現是一個老生常談的問題How to use bag_tools? bag_tools因為缺失需要c++編譯的executable，這個包已經損壞了，並且只能從源碼source安裝，使用git clone或者直接下載整個.zip文件后，解壓，將bag_tools復制到catkin_ws中，進行catkin_make，出現另外一個問題（我覺得有可能是opencv版本兼容問題，也有可能不是）：

00:04:39.904 In file included from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core.hpp:59:0,
00:04:39.904                  from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/core.hpp:48,
00:04:39.904                  from /opt/ros/kinetic/include/image_proc/processor.h:37,
00:04:39.904                  from /opt/ros/kinetic/include/stereo_image_proc/processor.h:37,
00:04:39.904                  from /tmp/binarydeb/ros-kinetic-bag-tools-0.0.3/src/process_stereo.cpp:34:
00:04:39.904 /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/mat.hpp: In instantiation of ‘class cv::Mat_<unsigned int>’:
00:04:39.904 /opt/ros/kinetic/include/stereo_image_proc/processor.h:180:30:   required from here
00:04:39.904 /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/mat.hpp:2150:50: error: no type named ‘channel_type’ in ‘class cv::DataType<unsigned int>’
00:04:39.904      typedef typename DataType<_Tp>::channel_type channel_type;
00:04:39.904  

 

解決方法為https://github.com/srv/srv_tools/issues/17中提到的

在bag_tools/src下的三個文件extract_images.cpp, extract_stereo_images.cpp 和 process_stereo.cpp前面加上

#define OPENCV_TRAITS_ENABLE_DEPRECATED

編譯通過，perfect！

 

接下來修改frame id，將你所要的修改frame id的rosbag文件copy到bag_tools/dataset中，

執行

./scripts/change_frame_id.py -o ./dataset/subsetcopy01.bag -i ./dataset/subset01.bag -f /openni_rgb_optical_frame -t /camera/color/image_raw

/camera/aligned_depth_to_color/image_raw

 

使用ls命令時，發現沒有修改過的rosbag顯示為綠色，修改后的則為白色。

好像ls后顯示的顏色並不影響，直接忽略。