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https://discourse.ros.org/t/ros1-bag-file-to-ros2-bag-file-converter/19995

Here I've made a tool for this, you can use it to do the conversion.

For summary there are 2 workspaces.

WS1 converts rosbag file to .proto_rosbag2 format.

WS2 converts .proto_rosbag2 file to rosbag2 format.

This is the repo link: https://github.com/leo-drive/ros1_bridge

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