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Tips#

I do not have rosbag2, but I have rosbag (ROS1)#

This tool can convert your rosbag into rosbag2 very easily.

My rosbag is not a mcap format.#

You can use ros2 bag convert command. First, you prepare compress.yaml like below.

output_bags:
  - uri: rosbag
    storage_id: mcap
    compression_mode: message
    compression_format: zstd
    all: true
    compression_queue_size: 0
    compression_threads: 0

ros2 bag convert -i (PATH_TO_ROSBAG) -o conversion.yaml