ROS Bag Segmenter

A Python utility for segmenting ROS bag files based on action status messages. This tool extracts segments from ROS bag files where the /upi/status/is_action topic is true.

Usage

The script can process either a single ROS bag file or a directory containing multiple bag files.

Basic Usage

Process a single bag file: bash python rosbag_segment.py input.bag

Process all bag files in a directory: bash python rosbag_segment.py /path/to/directory

Advanced Options

• -o, --output: Specify output directory for segmented files
• -t, --template: Custom filename template for output files
• -p, --pattern: Pattern to match bag files (default: *.bag)

Examples

1. Process a single file with custom output directory: bash python rosbag_segment.py input.bag -o /path/to/output

2. Process all bag files in a directory with custom output: bash python rosbag_segment.py /path/to/directory -o /path/to/output

3. Use custom filename template: bash python rosbag_segment.py input.bag -o /path/to/output -t "custom_segment_{}.bag"

4. Process specific bag files using a pattern: bash python rosbag_segment.py /path/to/directory -p "oak_d_sr_*.bag"

5. Complete example with all options: bash python rosbag_segment.py /path/to/directory -o /path/to/output -t "custom_segment_{}.bag" -p "oak_d_sr_*.bag"

Output

The script will create segmented bag files with the following naming convention: - If no template is specified: {original_filename}_segment_{number}.bag - If template is specified: Uses the provided template with {} replaced by the segment number

Notes

• The script looks for the /upi/status/is_action topic in the bag files
• Segments are created based on continuous true values in the action status
• Progress and results are displayed in the console during processing
• The script automatically creates the output directory if it doesn't exist

Full Post Processing

Complete workflow for processing ROS bag files from segmentation to gripper estimation:

Step 1: Segment ROS Bags

bash python rosbag_segment.py input.bag -o /path/to/output

Step 2: Extract Images

bash python3 extract_stereo_rosbags.py /path/to/bag.bag /output/folder/ realsense_d435i --compressed

Step 3: Extract Gripper

bash python gripper_estimation_april_tag.py /output/folder/

Step 4: Extract Images

bash python3 create_orb_slam_yaml.py /output/folder/ realsense_d435i