rosbag filter 根据时间和topic对包进行分割(过滤)

0.前言

本文主要讲解rosbag filter 命令的使用
可以用于对已经记好的包的分割,筛选需要的topic

1.根据topic过滤

1.1过滤单个topic

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

1.2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'"

2.根据时间过滤

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

3.同时过滤topic和时间

3.1单个topic和时间

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

3.2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)"

参考
http://wiki.ros.org/rosbag/Commandline#rosbag_filter