方式一:永久改名
终端运行命令
rosrun rosbag topic_renamer.py <intopic> <inbag> <outtopic> <outbag>
如:
rosrun rosbag topic_renamer.py /points_raw kitti_synced.bag /velodyne_points kitti_synced_new.bag
方式二:包播放时暂时改名
如:将话题名velodyne_points进行更改
rosbag play kitti.bag /velodyne_points:=/kitti/velo/pointcloud