On Tue, 2010-07-06 at 10:59 -0700, Jeremy Leibs wrote:
> On Tue, Jul 6, 2010 at 9:23 AM, Michael Styer <michael@styer.net> wrote:
> > Hello,
> >
> > Earlier this year (before I started working with ROS), I did a project
> > using a pre-recorded robot navigation dataset (from RAWSEEDS). I'd like
> > to try re-implementing the project in ROS, and of course it would be
> > great to be able to use the ROS bagfile tools to play back the data. But
> > it's not in a bagfile now.
> >
> > Has anyone else had to get data that was recorded in a different format
> > into the ROS bagfile format? If so, how did you do it? (Even better if
> > it was one of the RAWSEEDS datasets...)
> >
> 
> I have no familiarity with the RAWSEEDS datasets, but it has been our
> goal to make this kind of transformation as painless as possible,
> which is why we have provided a programmatic interface for both
> reading and writing to bagfiles in cturtle.
> 
> The only hard part is going to be writing yourself a parser for your
> existing file format that loads the data into the appropriate ROS
> messages.  Someone else may be able to provide you with some more
> advice on that front.
> 
> Once you have the data extracted from your current format and loaded
> into an appropraite ROS message, dumping it into the bag is trivial.

<snip>

> Obviously there might be slightly fancier logic required if you are
> reading different message types, but that's still all going to be in
> your parser.
> 
> Good luck!

Thanks, Jeremy. So I need to write the parser, but then I can read the
data (and the timestamp) from the other datafile and write it into the
bagfile. Sounds pretty straightforward.

I'll let you know if/when I get it running.

Mike