对bag数据的解析和操作

笔记：对rosbag数据的解析、操作

bag数据可视化 https://blog.csdn.net/MemoryD/article/details/105174327
从bag文件中提取图像 https://blog.csdn.net/lanyuxuan100/article/details/69988779
topic记录、回放、转.txt https://blog.csdn.net/tansir94/article/details/81513517
http://wiki.ros.org/bag_tools
https://github.com/facontidavide/rosbag_editor
http://wiki.ros.org/rosbag/Tutorials
用MATLAB对提取bag文件数据 https://blog.csdn.net/weixin_40712763/article/details/78909608
用ROS的订阅功能提取bag文件数据 https://blog.csdn.net/tanyong_98/article/details/105996052
从bag文件中读取topic数据 https://blog.csdn.net/lzy6041/article/details/107714396

estimating covariances https://github.com/5yler/metatron/issues/15
http://wiki.ros.org/rosbag/Code%20API#py_api
http://wiki.ros.org/rosbag/Cookbook
python解析bag文件 https://blog.csdn.net/sabrinalx/article/details/106501868
https://github.com/LRoel/collection/blob/2890ac462c68e3b0f7bf8f30b208bbdc458521ba/Python%E7%9B%B8%E5%85%B3/bag%E6%95%B0%E6%8D%AE%E5%A4%84%E7%90%86%E7%A8%8B%E5%BA%8F/rosbag_filter/GNSS_GPS.py
https://github.com/jsgaobiao/rosbag_parser/blob/0a1729a78fce4d2b685838f0b8faedc5c96d4485/scripts/rosbag2nav_odometry.py
https://github.com/ktk1501/SLAM_Wiki/wiki/1.-How-to-change-topic-names-and-frame-ID-in-rosbag-file
[“msg.header.frame_id” rosbag]
http://docs.ros.org/en/hydro/api/bag_tools/html/change__frame__id_8py_source.html
https://answers.ros.org/question/239943/rewriting-a-message-into-a-new-rosbag/

import rosbag
bag = rosbag.Bag('test.bag', 'w')  
bag.write('chatter', s)  bag.write('numbers', i)
bag.close()

bag = rosbag.Bag('test.bag')
for topic, msg, t in bag.read_messages(topics=['chatter', 'numbers']):
    print(msg)

gx = navMsg.pose.pose.position.x

odom = Odometry()
odom.header.frame_id = “odom”
odom.child_frame_id = self.base_frame
odom.header.stamp = now
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.twist.twist.linear.x = vxy
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = vth
self.odomPub.publish(odom)