【ROS笔记本】——Rosbag过滤命令

rosbag 时间和topic过滤

1.过滤单个topic

rosbag filter input.bag only-tf.bag "topic == '/tf'"

2过滤多个topic

rosbag filter input.bag output.bag "topic == '/velodyne_point_cloud' or topic =='/visensor/imu' or topic == '/visensor/left/image_raw'"

3.根据时间过滤

rosbag filter input.bag output.bag "t.to_sec() <= 1284703931.86"

4.同时过滤topic和时间

rosbag filter input.bag output.bag "topic == '/odometry/gps' and t.to_sec() <= 1284703931.86"

 多个topic和时间

rosbag filter input.bag output.bag "(topic == '/velodyne_point_cloud' or topic =='/visensor/imu' or topic == '/visensor/left/image_raw') and (t.to_sec() >= 1506117983.884751 and t.to_sec() <= 1506118069.884751)"