ROS2下使用ROS1 bag的方法

1. Galactic版本以上不适用的方法：

要求：同时拥有ROS1和ROS2

sudo apt install ros-<ros2-version>-rosbag2 ros-<ros2-version>-rosbag2*

source /opt/ros/<ros1-version>/setup.bash # eg: source /opt/ros/noetic/setup.bash
source /opt/ros/<ros2-version>/setup.bash # eg: source /opt/ros/foxy/setup.bash

ros2 bag info -s rosbag_v2 path/to/ros1bag.bag # eg: ros2 bag play -s rosbag_v2 ~/slam-dataset/rgbd.bag
ros2 bag play -s rosbag_v2 path/to/ros1bag.bag # eg: ros2 bag play -s rosbag_v2 ~/slam-dataset/rgbd.bag

2. ROS2版本均适用的方法：

要求：了解topic在ROS2中的正确格式

pip install rosbags

rosbags-convert path/to/ros1bag.bag # eg: rosbags-convert ~/slam-dataset/rgbd.bag
# 会在bag目录下生成ROS2格式的bag文件夹

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # 默认的fastrtps中间件无法监听话题
ros2 bag play path/to/ros1bag # eg: rosbags-convert ~/slam-dataset/rgbd

转化过后可能会报错有的话题找不到正确的格式，所以需要自己对生成的metadata.yaml进行手动修改，比如我对tf这个话题进行了修改：
tf/msg/tfMessage to tf2_msgs/msg/TFMessage