rosbag中提取topics并转换成.csv或.txt

1.bag提取topics并重定向

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ahren@ahren:~/script$ rostopic list

ahren@ahren:~/script$ rostopic echo -b ~/bag/_2020-07-01-17-57-14_83.bag -p /odom > odom.txt

2.踩坑ros中Python编码报错

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ahren@ahren:~/script$ rostopic echo -b ~/bag/_2020-07-01-17-57-14_83.bag -p /robot_state > state.csv
Traceback (most recent call last):
  File "/opt/ros/kinetic/bin/rostopic", line 35, in <module>
    rostopic.rostopicmain()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostopic/__init__.py", line 2093, in rostopicmain
    _rostopic_cmd_echo(argv)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostopic/__init__.py", line 1392, in _rostopic_cmd_echo
    _rostopic_echo(topic, callback_echo, bag_file=options.bag)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostopic/__init__.py", line 1013, in _rostopic_echo
    _rostopic_echo_bag(c