3种分割ROS包的方法
1.时间范围分割
得到包的时间信息
rosbag info
rosbag filter进行分割
(我分割了一下10.3G的lvi_sam的handheld.bag包,分割下来640Mb的包)
rosbag filter handheld.bag handheld_100.bag "t.to_sec() >= 1594310479.49 and t.to_sec() <=1594310479.49+100"
2.消息分割
查看消息rostopic list
rosbag fliter进行分割
rosbag filter mybag.bag output.bag "topic == '/my_topic'"
3.按照大小进行split分割
rosbag split --size=SIZE_MB my.bag output_prefix