ros2bag.db3格式的数据，除了ros2转ros1之外，还有别的方法吗

学习人类的第二十三年

转换的话，数据差别有点大

小鱼

@学习人类的第二十三年我很早之前做过一个开源工具，ros2bag-convert，你搜一下

学习人类的第二十三年

@小鱼好的，我试试看，谢谢啦

学习人类的第二十三年

@小鱼 ! ~DH17UPW7MHSJ%EYWJ@YO0J.png ，这个怎么办呢

刚刚小飞机

foxy下使用自定义msg并录制ros2 bag。python3.8下载安装ros2bag-convert，source环境接口后，使用命令ros2bag-convert xxxx.db3转换，报错如下：

(base) sczone@91b678582320: ~/ros2/pilot_parking/zop$ ros2bag-convert ~/DATADRIVE/robosense_raw_data/0214/zop/ros2bag/2022-02-14-10-26-20_1/2022-02-14-10-26-20_1.db3 
['/sensor_abstraction/EyeQ4VideoObject', '/sensor_abstraction/EyeQ4VideoLane', '/FS/FusContainer', '/NPA/VisionObj', '/NPA/LaneMarkerInfo', '/camera/image']
Traceback (most recent call last):
  File "/usr/local/bin/ros2bag-convert", line 8, in <module>
    sys.exit(main())
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/main.py", line 14, in main
    data = read_bag.read_from_all_topics(file_url,True)
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/read_bag.py", line 210, in read_from_all_topics
    timestamps, messages = read_from_topic(bag_file, topic_names[i], print_out)
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/read_bag.py", line 183, in read_from_topic
    dic_data = message_converter.convert_ros_message_to_dictionary(msg)
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/message_converter.py", line 243, in convert_ros_message_to_dictionary
    dictionary[field_name] = _convert_from_ros_type(field_type, field_value)
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/message_converter.py", line 259, in _convert_from_ros_type
    field_value = convert_ros_message_to_dictionary(field_value)
  File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/message_converter.py", line 240, in convert_ros_message_to_dictionary
    message_fields = message.get_fields_and_field_types()
AttributeError: 'list' object has no attribute 'get_fields_and_field_types'

小鱼

@刚刚小飞机在 ros2bag.db3格式的数据，除了ros2转ros1之外，还有别的方法吗中说：

File "/usr/local/lib/python3.8/dist-packages/ros2bag_convert/ros2bag_convert/message_converter.py", line 240, in convert_ros_message_to_dictionary
message_fields = message.get_fields_and_field_types()

方便把这个message打印出来看看具体内容是个啥吗

刚刚小飞机

@小鱼 msg格式如下：

[sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0), sensor_abstraction_msgs.msg.VideoObject(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), obj_id=0, obj_cam_id=0, obj_fusion_sensor=0, obj_status=0, obj_motion_status=0, obj_type=0, obj_type_conf=0.0, obj_exsit_prob=0.0, obj_length=0.0, obj_width=0.0, obj_height=0.0, obj_heading_angle=-3.140000104904175, obj_heading_angle_std=0.0, obj_yawrate=-2.2339999675750732, obj_lng_absolute_velocity=-30.0, obj_lat_absolute_velocity=-50.0, obj_lng_absolute_velocity_std=0.0, obj_lat_absolute_velocity_std=0.0, obj_lng_relative_velocity=-120.0, obj_lat_relative_velocity=-50.0, obj_lng_relative_velocity_std=0.0, obj_lat_relative_velocity_std=0.0, obj_lng_absolute_acceleration=-10.300000190734863, obj_lat_absolute_acceleration=-10.300000190734863, obj_lng_absolute_acceleration_std=0.0, obj_lat_absolute_acceleration_std=0.0, obj_lng_relative_acceleration=-10.300000190734863, obj_lat_relative_acceleration=0.0, obj_lng_relative_acceleration_std=0.0, obj_lat_relative_acceleration_std=0.0, obj_nearest_side=0, obj_in_lane_position=0, obj_turn_light_status=0, obj_brake_light_status=0, obj_ttc=-8.0, obj_ttc_std=0.0, obj_boundary_x1=0, obj_boundary_y1=0, obj_boundary_x2=0, obj_boundary_y2=0, obj_boundary_x3=0, obj_boundary_y3=0, obj_boundary_x4=0, obj_boundary_y4=0, obj_3_d_boundary_bottom_x=0, obj_3_d_boundary_bottom_y=0, obj_3_d_boundary_top_x=0, obj_3_d_boundary_top_y=0, obj_3_d_boundary_left_x=0, obj_3_d_boundary_left_y=0, obj_3_d_boundary_right_x=0, obj_3_d_boundary_right_y=0, obj_lateral=-100.0, obj_lateral_std=0.0, obj_longitudinal=-200.0, obj_longitudinal_std=0.0, obj_vertical=0.0, obj_vertical_std=0.0, obj_center_angle=-1.5709999799728394, obj_center_angle_std=0.0, obj_total_age=0, obj_init_age=0, obj_measure_age=0, obj_predict_age=0, obj_boundary_min_angle=0.0, obj_boundary_max_angle=0.0),...]