通过脚本过滤掉ROS bag中不需要的topic

该脚本需要输入两个参数，参数1为要过滤的bag，参数二为新生成的bag。脚本中对/monitor//*进行过滤，并生成新的bag文件。

#!/bin/bash

#1.get the info of the bag
if [ $# != 2 ]; then
   echo "the input params number is not 2,please try again!"
   exit 1
fi
rosbag info $1 > bag.txt
#2.get the delete topics form the bag
bag_file=./bag.txt
for line in $(grep "/monitor//*" $bag_file)
do
    result=$(echo $line | grep "/monitor//*")
    if [[ "$result" != "" ]]
    then
       echo $line >> topics.txt
    fi
    #echo $line >> topics.txt
done
topic_file=./topics.txt
if [ ! -s $topic_file ]
then
    echo "there is not the /monitor/* topic in the $1 bag."
    exit 1
fi
#3.chreate the command to del the topics
line_count=0
topicinfo=""
for line in $(cat $topic_file)
do
    if [ 0 == $line_count ];then
        topicinfo="topic!='$line'"
    else
        topicinfo=$topicinfo" and topic!='$line'"
    fi
    line_count=$line_count+1
done

echo "rosbag filter $1 $2 ""\""$topicinfo"\"" > rosbag.sh
#4.execute the cmd
chmod 777 rosbag.sh
./rosbag.sh
echo "###########the new bag $2 has created now#############"
#5.delete the files no need
rm -rf bag.txt
rm -rf topics.txt
rm -rf rosbag.sh