Deps: python, opencv python wrappers, numpy, rospy, cvbridge, rosbag, etc.
<build_depend>sensor_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>rospy</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
Important: do not forget to source /opt/ros/setup.bash (path depends on your install), and source devel/setup.bash in your catkin workspace.
Usage: log2bag.py [-h] [-f] [-s] [-p] [-e] logfile:
positional arguments:
logfile path to Dataflash log file (or - for stdin)
optional arguments:
-h, --help show this help message and exit
-f , --format log file format: 'bin','log' or 'auto'
-s, --skip_bad skip over corrupt dataflash lines
-p, --profile output performance profiling data
-e, --empty run an initial check for an empty log
rosrun apmlog_tools log2bag.py src/sandbox/apmlog_tools/sample/2.bin
Loading log file...
Converting...
IMU...
AHR...
ATT...
MAG...
BARO...
POWR...
CURR...
GPS...
RAD...
Convesion finished.
0/src> rosbag info test.bag
path: test.bag
version: 2.0
duration: 6:27s (387s)
start: Jan 01 1970 01:00:00.07 (0.07)
end: Jan 01 1970 01:06:27.68 (387.68)
size: 35.2 MB
messages: 180136
compression: none [45/45 chunks]
types: apmlog_tools/AHR [9d012171d83de74acfa0a894540f0986]
apmlog_tools/ATT [f4f099f3e1046a4bcb57cb9d663574ae]
apmlog_tools/BARO [297cf70f0c733e3d5f4861d33d57bc18]
apmlog_tools/CURR [44a9fcd586b2ac9da1c02b9fb035dced]
apmlog_tools/GPS [c9e6f5d789bd12e12f9e207f2162f8fb]
apmlog_tools/MAG [103fdaa79527522ab1187d8e39f937bd]
apmlog_tools/POWR [5263f14fb2dbb65f2b01248a7305d537]
apmlog_tools/RAD [e5ef9ca46853629e0794b8064dbeb8da]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
topics: ArduCopter/AHR2 41707 msgs : apmlog_tools/AHR
ArduCopter/ATT 41709 msgs : apmlog_tools/ATT
ArduCopter/BARO 6953 msgs : apmlog_tools/BARO
ArduCopter/CURR 695 msgs : apmlog_tools/CURR
ArduCopter/GPS 3573 msgs : apmlog_tools/GPS
ArduCopter/IMU 34756 msgs : sensor_msgs/Imu
ArduCopter/IMU2 34754 msgs : sensor_msgs/Imu
ArduCopter/MAG 6953 msgs : apmlog_tools/MAG
ArduCopter/MAG2 6953 msgs : apmlog_tools/MAG
ArduCopter/POWR 695 msgs : apmlog_tools/POWR
ArduCopter/RAD 1388 msgs : apmlog_tools/RAD
Converting video to ROSBag file:
rosrun apmlog_tools video2bag.py video_and_telemetry/DCIM/100HDDVR/REC_0001.MOV
0/apmlog_tools> rosbag info output_video.bag
path: output_video.bag
version: 2.0
duration: 1:33s (93s)
start: May 17 2015 13:56:53.35 (1431863813.35)
end: May 17 2015 13:58:26.44 (1431863906.44)
size: 2.0 GB
messages: 350
compression: none [350/350 chunks]
types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
topics: camera/image_raw 350 msgs : sensor_msgs/Image
rosrun apmlog_tools log2bag.py -t=0.2 --fps=30 ../sample/2.bin -v ~/Downloads/pixhack/video_and_telemetry/DCIM/100HDDVR/REC_0001.MOV
0/src> rosbag info test.bag
path: test.bag
version: 2.0
duration: 0.4s
start: Jan 01 1970 01:00:00.07 (0.07)
end: Jan 01 1970 01:00:00.46 (0.46)
size: 54.3 MB
messages: 94620
compression: none [29/29 chunks]
types: apmlog_tools/AHR [9d012171d83de74acfa0a894540f0986]
apmlog_tools/ATT [f4f099f3e1046a4bcb57cb9d663574ae]
apmlog_tools/BARO [297cf70f0c733e3d5f4861d33d57bc18]
apmlog_tools/CURR [44a9fcd586b2ac9da1c02b9fb035dced]
apmlog_tools/MAG [103fdaa79527522ab1187d8e39f937bd]
apmlog_tools/POWR [5263f14fb2dbb65f2b01248a7305d537]
apmlog_tools/RAD [e5ef9ca46853629e0794b8064dbeb8da]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
topics: ArduCopter/AHR2 22350 msgs : apmlog_tools/AHR
ArduCopter/ATT 22351 msgs : apmlog_tools/ATT
ArduCopter/BARO 3726 msgs : apmlog_tools/BARO
ArduCopter/CURR 372 msgs : apmlog_tools/CURR
ArduCopter/IMU 18625 msgs : sensor_msgs/Imu
ArduCopter/IMU2 18624 msgs : sensor_msgs/Imu
ArduCopter/MAG 3725 msgs : apmlog_tools/MAG
ArduCopter/MAG2 3725 msgs : apmlog_tools/MAG
ArduCopter/POWR 372 msgs : apmlog_tools/POWR
ArduCopter/RAD 744 msgs : apmlog_tools/RAD
camera/image_raw 6 msgs : sensor_msgs/Image
If you want say update class from ardupilot source:
wget https://raw.githubusercontent.com/diydrones/ardupilot/master/Tools/LogAnalyzer/DataflashLog.py