README.md

ROS2 BAG to image

Topic to Image

Subscribes to a ROS2 Image topic and stores received messages to PNG files.

How to launch:

ros2 launch ros2_bag_to_image topic_to_image.xml \
    input/topic:=/camera/image_rect compressed:=True

The images are exported in lossless PNG format.

Set compressed to True to subscribe to a compressed image_transport.

Parameters

Parameter	Default	Description
input/topics	/image_raw	ROS2 Topic to subscribe
output/path	/tmp/	Path where to store the PNG files.
output/prefix		Text to prepend to the output file

BAG To Image

Opens, reads, extracts and saves sensor_msgs/msg/Image or sensor_msgs/msg/CompressedImages from Ros2 bag.

Stores all the topics in the defined output path, names the images as: topic_name_stampsecs_stampnsecs.png

The images are exported in lossless PNG format.

How to launch:

$ ros2 launch ros2_bag_to_image bag_to_image.xml \
        input/path:=/PATH_TO/input_bag/ \
        input/topics:="['camera1/image_rawcompressed', 'camera2/image_raw']"

Parameters

Parameter	Default	Description
input/path		Input Rosbag Path
input/bag_format	cdr	Path where to store the PNG files.
input/bag_storage_id	sqlite3	Text to prepend to the output file
input/topics		List of Input Topics in the form "['topic1', 'topic2', 'topicN']"
output/path	/tmp/	Output path PNG files