Alternative rosbag utility packed with powerful features.
Install with:
go install
$ r0sbag info demo.bag
path: /home/wyatt/data/bags/demo.bag
version: 2.0
duration: 7.78s
start: Mar 21 2017 19:26:20.10 (1490149580.10)
end: Mar 21 2017 19:26:27.88 (1490149587.88)
size: 67.1 MB
messages: 1606
compression: lz4 [79/79 chunks; 55.47%]
uncompressed: 120.9 MB @ 15.5 MB/s
compressed: 67.1 MB @ 8.6 MB/s (55.47%)
types: diagnostic_msgs/DiagnosticArray [60810da900de1dd6ddd437c3503511da]
sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
sensor_msgs/Range [c005c34273dc426c67a020a87bc24148]
radar_driver/RadarTracks [6a2de2f790cb8bb0e149d45d297462f8]
topics: /diagnostics 52 msgs : diagnostic_msgs/DiagnosticArray
/image_color/compressed 234 msgs : sensor_msgs/CompressedImage
/tf 774 msgs : tf2_msgs/TFMessage
/radar/points 156 msgs : sensor_msgs/PointCloud2
/radar/range 156 msgs : sensor_msgs/Range
/radar/tracks 156 msgs : radar_driver/RadarTracks
/velodyne_points 78 msgs : sensor_msgs/PointCloud2
$ r0sbag list chunks ~/data/bags/demo.bag | head
offset start end connections messages
4117 1490149580103843113 1490149580113944947 7 8
703705 1490149580124028613 1490149580217237988 7 22
1614425 1490149580227348197 1490149580309379447 6 20
2525224 1490149580319458697 1490149580410323613 6 20
3418190 1490149580420411238 1490149580507495905 6 16
4311034 1490149580517578405 1490149580608392239 6 20
5213189 1490149580618484655 1490149580711475822 6 23
6109581 1490149580721562030 1490149580814003739 6 21
7018125 1490149580824118364 1490149580914902989 6 20
$ r0sbag cat ~/data/bags/demo.bag | head -n 1
{"topic": "/diagnostics", "time": 1490149580103843113, "data": {"header":{"seq":2602,"stamp":1490149580.113375843,"frame_id":""},"status":[{"level":0,"name":"velodyne_nodelet_manager: velodyne_packets topic status","message":"Desired frequency met; Timestamps are reasonable.","hardware_id":"Velodyne HDL-32E","values":[{"key":"Events in window","value":"100"},{"key":"Events since startup","value":"26020"},{"key":"Duration of window (s)","value":"10.008710"},{"key":"Actual frequency (Hz)","value":"9.991298"},{"key":"Target frequency (Hz)","value":"9.988950"},{"key":"Minimum acceptable frequency (Hz)","value":"8.990055"},{"key":"Maximum acceptable frequency (Hz)","value":"10.987845"},{"key":"Earliest timestamp delay:","value":"0.000300"},{"key":"Latest timestamp delay:","value":"0.000322"},{"key":"Earliest acceptable timestamp delay:","value":"-1.000000"},{"key":"Latest acceptable timestamp delay:","value":"5.000000"},{"key":"Late diagnostic update count:","value":"0"},{"key":"Early diagnostic update count:","value":"0"},{"key":"Zero seen diagnostic update count:","value":"0"}]}]}}
$ r0sbag cat ~/data/bags/demo.bag --simple | head -n 1
1490149580103843113 /diagnostics [diagnostic_msgs/DiagnosticArray] [42 10 0 0 204 224 209 88 99 250]...
See r0sbag -h for available commands.