Package: ros2bagsend
ros2bagsendA tool that uses simple logic to send topics recorded in ros2 bag one cycle at a time (not a strict cycle).https://github.com/PINTO0309/simple-ros2-processing-toolshttps://github.com/PINTO0309/ros2bagsend/assets/33194443/b25069a8-300e-4913-bb59-7477b39275611. Install ROS2DISTRO=humble

sudoaptupdate&&sudoaptinstall-ylocales
sudolocale-genen_USen_US.UTF-8
sudoupdate-localeLC_ALL=en_US.UTF-8LANG=en_US.UTF-8exportLANG=en_US.UTF-8

sudoaptinstallsoftware-properties-common
sudoadd-apt-repositoryuniverse

sudoaptupdate&&sudoaptinstallcurl-y
sudocurl-sSLhttps://raw.githubusercontent.com/ros/rosdistro/master/ros.key\-o/usr/share/keyrings/ros-archive-keyring.gpgecho"deb [arch=$(dpkg--print-architecture)signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu$(./etc/os-release&&echo$UBUNTU_CODENAME)main"|sudotee/etc/apt/sources.list.d/ros2.list>/dev/null
sudoaptupdate
sudoaptinstall-y\ros-${DISTRO}-rosbag2\ros-${DISTRO}-vision-opencv\ros-${DISTRO}-vision-msgs\ros-${DISTRO}-image-pipeline2. Install ros2bagsendpip install ros2bagsend3. UsageSend topics in units of pseudo-framesros2bagsend--ros-args\-pbag_file_path:='test.db3'topic summary ########################################
topic_info.name0: /camera/aligned_depth_to_color/image_raw
topic_info.name1: /camera/color/camera_info
topic_info.name2: /camera/color/image_raw
topic_info.name3: /zed2i/zed_node/depth/depth_registered
topic_info.name4: /zed2i/zed_node/rgb/camera_info
topic_info.name5: /zed2i/zed_node/rgb_raw/image_raw_color
######################################################
Press Enter to publish the next frame... (Interrupted by 'q' key)
1./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424121013788
1./zed2i/zed_node/rgb_raw/image_raw_color: /zed2i/zed_node/rgb_raw/image_raw_color time_stamp: 1703229424128303140
Press Enter to publish the next frame... (Interrupted by 'q' key)
2./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424128367120
2./zed2i/zed_node/depth/depth_registered: /zed2i/zed_node/depth/depth_registered time_stamp: 1703229424134155118
2./camera/color/camera_info: /camera/color/camera_info time_stamp: 1703229424138749661
2./camera/aligned_depth_to_color/image_raw: /camera/aligned_depth_to_color/image_raw time_stamp: 1703229424150239208
2./camera/color/image_raw: /camera/color/image_raw time_stamp: 1703229424154925667
Press Enter to publish the next frame... (Interrupted by 'q' key)
3./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424184716213
3./zed2i/zed_node/rgb_raw/image_raw_color: /zed2i/zed_node/rgb_raw/image_raw_color time_stamp: 1703229424191219846
Press Enter to publish the next frame... (Interrupted by 'q' key)
4./zed2i/zed_node/rgb/camera_info: /zed2i/zed_node/rgb/camera_info time_stamp: 1703229424191263193
4./zed2i/zed_node/depth/depth_registered: /zed2i/zed_node/depth/depth_registered time_stamp: 1703229424195592537
4./camera/aligned_depth_to_color/image_raw: /camera/aligned_depth_to_color/image_raw time_stamp: 1703229424201049523
4./camera/color/camera_info: /camera/color/camera_info time_stamp: 1703229424201093864
4./camera/color/image_raw: /camera/color/image_raw time_stamp: 1703229424204340722
Press Enter to publish the next frame... (Interrupted by 'q' key)
  :
  :Specifies frames to start or end transmissionframesrefers to the number of times a topic is sent, not the number of topics. In the example below, topics are sent in the range from frame 5 to frame 100, skipping up to frame 4. It is advisable to check in advance which frame range should be sent usingrqtor similar.ros2bagsend--ros-args\-pbag_file_path:='test.db3'\-pstart_frame_no:=5\-pend_frame_no:=100Only analysis of statistical information is performed
Analyze the list of topic names in the bag file and the number of assumed frames. It is also possible to specifystart_frame_noandend_frame_no. Ifstatistical_analysis_onlyis specified, no topics are sent.ros2bagsend--ros-args\-pbag_file_path:='test.db3'\-pstatistical_analysis_only:=TrueStatistical information is being analyzed ...
topic summary ########################################
topic_info.name0: /camera/aligned_depth_to_color/image_raw
topic_info.name1: /camera/color/camera_info
topic_info.name2: /camera/color/image_raw
topic_info.name3: /zed2i/zed_node/depth/depth_registered
topic_info.name4: /zed2i/zed_node/rgb/camera_info
topic_info.name5: /zed2i/zed_node/rgb_raw/image_raw_color
======================================================
Approximate total frame count: 1,104
######################################################
Done.