ros2bag_fixer

This is a repository on how to recover Ros2 bags that were corrupted as in they closed before a graceful shutdown. BOTH formats .db3 and .mcap require a footer/metadata so require a tool to fix this. THE ROS2 COMMAND REINDEX DOES NOT WORK FOR EITHER BAG FORMAT IN HUMBLE!

Check this https://codebeautify.org/sql-to-csv-converter to sql-to-csv converter for the format

How To Recover a corrupted sqlite3 or .db3

The SQLite3 Recovery tool comes from the precompiled binary. Link is here https://www.sqlite.org/download.html We also assume you have ROS2 Humble installed along with numpy for this repostiroy to work.

1. Use the SQLite3 tool to create a .sql file DO THE .db3 NOT THE DIRECTORY!

   chmod +x sqlite3
   ./sqlite3 path_to_corrupt.db3 .recover >data.sql

2. Convert sql file to csv (Only with the ROS2 bag)

   python3 convert_sql_to_csv.py --input path/to/file.sql --output path/to/output_base.csv

3. Edit the jupyter Notebook to point the topic id and file name (Someone can consider converting .ipnyb to python script and just save images)!

How To Recover a corrupted .mcap file

This tool comes from foxglove stuido so use that for plotting https://github.com/foxglove/mcap/releases/tag/releases%2Fmcap-cli%2Fv0.0.46

1. Use the mcap tool in the repository

   chmod +x mcap-linux-amd64
   ./mcap-linux-amd64 recover in.mcap -o out.mcap