1、截取片段
rosbag filter input.bag output.bag "t.to_sec() >= start time and t.to_sec() <= end time"
起止时间例如Bag Time: 1623406311
2、截取话题
rosbag filter in.bag out.bag "(topic == '/drone1/odometry/imu')"
3、话题重映射
rosbag play in.bag /test_cloud:=/points_raw