mcap tools with initial emphasis on ros1 and rust using roslibrust
Setup on Ubuntu 22.04 and Debian Trixie using Debian Science Team ROS1 apt packages:
apt install python3-rosmsg rospack-tools libsensor-msgs-dev libstd-msgs-dev libgeometry-msgs-dev ros-sensor-msgs ros-std-msgs ros-geometry-msgs cargo pkg-config librust-openssl-dev
ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs` cargo install --git https://github.com/lucasw/mcap_tools
export PATH=$PATH:$HOME/.cargo/bin
Ubuntu 24.04 is possible building ros from source (https://github.com/lucasw/ros_from_src/tree/ubuntu2404 - TBD clean this up with clearer instructions)
roscore
# ... publish some messages
record any messages with either sensors or odom in name, but don't record anything with 'image' in name, and prefix with 'data':
mcap_record --regex "(.*)sensors(.*)|(.*)odom(.*)" --exclude "(.*)image(.*)" --outputprefix "data_"
the output files will look like and will increment the final five digits to 00001 and so on when the size limit is reached (2048MB by default)
data_2024_08_26_09_15_08_-07_00_00000.mcap
data_2024_08_26_09_15_08_-07_00_00001.mcap
...
(TODO(lucasw) make the date optional)
ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs` cargo build --release
Record all topics with sensors or odom in the full topic name to an mcap:
ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs` cargo run --release --bin mcap_record -- --regex "(.*)sensors(.*)|(.*)odom(.*)"
ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs` cargo run --release --bin mcap_extract /path/to/some.mcap
# do a git commit before this to see changes
cargo fmt --all
# this only provides suggestions, doesn't change anything
ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs` cargo clippy
https://github.com/lucasw/ros_one2z/tree/main/mcap_to_rerun - play select message types out of ros1 mcap bags into rerun
https://github.com/foxglove/mcap/tree/main/rust - official mcap rust examples
https://mcap.dev/guides/getting-started/ros-1 and https://foxglove.dev/blog/mcap-vs-ros1-bag-index-performance
https://github.com/transitiverobotics/mcap-play-ros - play mcap files into ros1 with python https://github.com/lucasw/ros_one2z/blob/main/one2z/scripts/ros1_play_mcap.py - my own python mcap ros1 player with some different features
https://github.com/facontidavide/mcap_editor
https://github.com/sensmore/kappe - only for ros2 messages?