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Hi there! I just thought I'd chip in because I'm the author of swri-robotics/bag-reader-java. If you need to write your own, the bag format is pretty well-documented at http://wiki.ros.org/Bags/Format/2.0 ; writing a reader for it is more tedious than hard. I tried to document the source for the Java reader pretty well, so just let me know if you have any questions about or problems with it.