Gobag: a standalone ROS bag reader

What is it?

Gobag is exploration around the idea of fast ROS bag parser that can easily be deployed without ROS stack.

Installation

It uses Go modules system for dependency management.

In older versions of Go, you need to do the usual go get <all the dependencies>.

In Go 1.11 (and working in GOPATH) you can turn on the modules support by this environment variable export GO111MODULE=on and then just build. Much more on this here.

In future Go versions (starting 1.12) it should just work automagically as the module support will be switched on by default.

Then build the CLI tool:

cd gobag-cli/
go build                                      # or go install
./gobag-cli help

Note: it works 99.99% of the time with the newest version of lz4 package, but in case of very large single message (more than 2^10 bytes) the version 1.1 needs to be used (currently newest is 2.0.7).

Usage

CLI usage is shown below.

Code usage examples are shown in gobag-cli/actions.go.

TODO

• Provide out-of-the-box code samples with a sample bag file
• Benchmarking tests
• Work with lz4 package author to track down the large message regression

gobag-cli

1.0.0 - Starship Technologies OÜ technology@starship.xyz

Commands (3)

gobag-cli dump

Dump indicated content of the bag

Subcommands (6)

gobag-cli dump chunks

dump uncompressed chunks

gobag-cli dump chunksinfo

dump chunk information

gobag-cli dump messagedefinitions

dump message definitions

gobag-cli dump tabledefinitions

dump HIVE DDL table definitions for all topics into separate .sql files

gobag-cli dump json

dump full bag to JSON

gobag-cli dump topics

dump bag messages to JSON by topic

Flags

• --time value: Comma separated Unix epoch timestamps for start and end to filter by time
• --filter value: Comma separated list of topics to limit output (including '/' prefix if needed)

gobag-cli docs

Usage: gobag-cli docs > documentation.md

Generate documentation in markdown format and print to standard out.

gobag-cli help

Usage: Shows a list of commands or help for one command

Global Flags

• --help, -h: show help
• --version, -v: print the version