rosbag 時間和topic過濾

@

目錄

• 1過濾單個topic
• 2過濾多個topic
• 3.根據時間過濾
• 4.同時過濾topic和時間

1過濾單個topic

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

2過濾多個topic

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

3.根據時間過濾

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

4.同時過濾topic和時間

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

多個topic和時間

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)"