The method of using ROS1 bag under ROS2

1. Method not applicable for Galactic version and above:

Requirements: Both ROS1 and 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.bashsource /opt/ros/<ros2-version>/setup.bash # eg: source /opt/ros/foxy/setup.bashros2 bag info -s rosbag_v2 path/to/ros1bag.bag # eg: ros2 bag play -s rosbag_v2 ~/slam-dataset/rgbd.bagros2 bag play -s rosbag_v2 path/to/ros1bag.bag # eg: ros2 bag play -s rosbag_v2 ~/slam-dataset/rgbd.bag

2. Methods applicable to all ROS2 versions:

Requirements: Understand the correct format of topics in ROS2

pip install rosbagsrosbags-convert path/to/ros1bag.bag # eg: rosbags-convert ~/slam-dataset/rgbd.bag# A bag folder in ROS2 format will be generated in the bag directoryexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # The default fastrtps middleware cannot monitor topicsros2 bag play path/to/ros1bag # eg: rosbags-convert ~/slam-dataset/rgbd

After the conversion, an error may be reported. Some topics cannot find the correct format, so you need to manually modify the generated metadata.yaml. For example, I modified the topic of tf:
tf/msg/tfMessage to tf2_msgs/msg/TFMessage