Bag包导出工具ros2_unbag

ROS 2 Bag 数据导出的终极方案：ros2_unbag 深度解析

Bag包转换

ROS2的DB3/MCAP与ROS1的Bag文件无损转换指南

将Jazzy的mcap格式转成humble的db3格式

1、安装依赖

sudo apt install ros-humble-rosbag2-storage-mcap
sudo apt install ros-humble-mcap-vendor

2、下载mcap工具

wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv0.0.48/mcap-linux-amd64 -O mcap
chmod +x mcap
sudo mv mcap /usr/bin/

3、转换格式

mcap recover -o recovered_bag.mcap <rosbag2_2025_11_26-02_18_19_0>.mcap
rosbags-convert --src recovered_bag.mcap --dst output_db3 --dst-version 8

4、播包

cd output_db3
ros2 bag play .