Apollo: How to reuse old ROS bag files in the cyber RT?

[junjieshen]

Hi,

Is there any way to reuse the ROS bag files in the cyber RT in rc3.5?
It looks like cyber has a similar tool for playback, cyber_record. But I failed to use it to play the old bag files; it complains "read header section failed".

Thanks,
Junjie

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 14.04): Ubunut 14.04
• Apollo installed from (source or binary): source
• Apollo version (1.0, 1.5, 2.0, 2.5, 3.0): rc3.5

[davidhopper2003]

I have the same problem.

[fzd9752]

Same question.

[davidhopper2003]

I've figured it out. Please refer to this document:

rosbag_to_record demo_2.5.bag demo.record

[junjieshen]

@davidhopper2003 Awesome! Thanks a lot!

[luqiang21]

I've figured it out. Please refer to this document:

rosbag_to_record demo_2.5.bag demo.record

Did you get images converted as well using this tool? Thanks

[davidhopper2003]

@luqiang21 Yes, I did. The screenshot is as follows.

[luqiang21]

@luqiang21 Yes, I did. The screenshot is as follows.

Thank you for your prompt reply. For images I mean these two channels:

/apollo/sensor/camera/front_6mm/image
/apollo/sensor/camera/front_6mm/image/compressed

I recorded them in a bag using apollo 3.0 and tried to convert it to record file. The file size reduced from 5.8 GB to 1.8 GB. Seems lots of information lost.

[davidhopper2003]

@luqiang21
The topics you have mentioned are currently not supported, you can add your own convertion logic in the file modules/data/tools/rosbag_to_record/rosbag_to_record.cc. The currently supported topics are shown as follows:

 if (channel_name == "/apollo/perception/obstacles") {
      auto pb_msg = m.instantiate<apollo::perception::PerceptionObstacles>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/planning") {
      auto pb_msg = m.instantiate<apollo::planning::ADCTrajectory>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/prediction") {
      auto pb_msg = m.instantiate<apollo::prediction::PredictionObstacles>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/canbus/chassis") {
      auto pb_msg = m.instantiate<apollo::canbus::Chassis>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/control") {
      auto pb_msg = m.instantiate<apollo::control::ControlCommand>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/guardian") {
      auto pb_msg = m.instantiate<apollo::guardian::GuardianCommand>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/localization/pose") {
      auto pb_msg = m.instantiate<apollo::localization::LocalizationEstimate>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/perception/traffic_light") {
      auto pb_msg = m.instantiate<apollo::perception::TrafficLightDetection>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/drive_event") {
      auto pb_msg = m.instantiate<apollo::common::DriveEvent>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/odometry") {
      auto pb_msg = m.instantiate<apollo::localization::Gps>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/monitor/static_info") {
      auto pb_msg = m.instantiate<apollo::data::StaticInfo>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/monitor") {
      auto pb_msg = m.instantiate<apollo::common::monitor::MonitorMessage>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/canbus/chassis_detail") {
      auto pb_msg = m.instantiate<apollo::canbus::ChassisDetail>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/control/pad") {
      auto pb_msg = m.instantiate<apollo::control::PadMessage>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/navigation") {
      auto pb_msg = m.instantiate<apollo::relative_map::NavigationInfo>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/routing_request") {
      auto pb_msg = m.instantiate<apollo::routing::RoutingRequest>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/routing_response") {
      auto pb_msg = m.instantiate<apollo::routing::RoutingResponse>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/tf" || channel_name == "/tf_static") {
      // ...      
    } else if (channel_name == "/apollo/sensor/conti_radar") {
      auto pb_msg = m.instantiate<apollo::drivers::ContiRadar>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/delphi_esr") {
      auto pb_msg = m.instantiate<apollo::drivers::DelphiESR>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/best_pose") {
      auto pb_msg = m.instantiate<apollo::drivers::gnss::GnssBestPose>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/imu") {
      auto pb_msg = m.instantiate<apollo::drivers::gnss::Imu>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/ins_stat") {
      auto pb_msg = m.instantiate<apollo::drivers::gnss::InsStat>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/rtk_eph") {
      auto pb_msg = m.instantiate<apollo::drivers::gnss::GnssEphemeris>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name == "/apollo/sensor/gnss/rtk_obs") {
      auto pb_msg = m.instantiate<apollo::drivers::gnss::EpochObservation>();
      pb_msg->SerializeToString(&serialized_str);
    } else if (channel_name ==
               "/apollo/sensor/velodyne64/compensator/PointCloud2") {
      auto ros_msg = m.instantiate<sensor_msgs::PointCloud2>();
      auto pb_msg = std::make_shared<apollo::drivers::PointCloud>();
      convert_PointCloud(pb_msg, ros_msg);
      pb_msg->SerializeToString(&serialized_str);
    } else {
      AWARN << "not support channel:" << channel_name;
      continue;
    }

[luqiang21]

@davidhopper2003
Thank you so much!