mcap tools

mcap tools with initial emphasis on ros1 and rust using roslibrust

installation

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 actionlib_msgs`:`rospack find std_msgs`:`rospack find sensor_msgs`:`rospack find geometry_msgs`:`rospack find rosgraph_msgs`:`rospack find std_srvs`:`rospack find tf2_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)

usage

example

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)

build

# use ROS_PACKAGE_PATH from above
cargo build --release

build and run in one line (for development)

Record all topics with sensors or odom in the full topic name to an mcap:

# use ROS_PACKAGE_PATH from above
cargo run --release --bin mcap_record -- --regex "(.*)sensors(.*)|(.*)odom(.*)"

# use ROS_PACKAGE_PATH from above
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
# use ROS_PACKAGE_PATH from above
cargo clippy