MRPT offers a tool to convert robotics log file from Carmen to RawLog. I need to convert the other way around from RawLog to Carmen but I don't seem to be able to find such a tool. Please, can you help me with that ? Thanks.
Nope, sorry. MRPT only ships carmen2simplemap and carmen2rawlog.
Note however that you have the possibility of exporting .rawlog files to TXT files (using either RawLogViewer or rawlog-edit), which may help you write a parser in the direction you need it.