mola_input_rosbag1

A MOLA data source module that reads ROS 1 .bag files and exposes their contents as MOLA observations, without needing a ROS 1 installation.

Made by The MOLA SLAM framework, Spain (checked on github.com/MOLAorg (opens in a new tab)).

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit d1079e4 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Reads ROS 1 bag files and turns supported message types into MOLA/MRPT observations such as IMU, images, point clouds, laser scans, GPS, odometry and poses.
Vendors the ROS 1 bag reader and message definitions, so it builds in a pure ROS 2 or non-ROS colcon workspace.
Can replay bags as a ROS 1 to ROS 2 bridge, republishing streams as ROS 2 topics and /tf in real time.
Looks up sensor poses from the bag's /tf and /tf_static tree relative to a configurable robot body frame.
Supports an optional ground-truth trajectory pre-scanned from a chosen topic, for evaluation.
Includes a rosbag1-info command-line tool that summarizes a bag's topics, types, duration and message counts.

Written by Robotheca from the project's README (opens in a new tab) at commit d1079e4.

Checked on GitHub on 16 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.