通过rosbag filter 制作想要的bag场景:
一定时间内有特定topic。
注意:t.secs 是从rosbag info 得到的,不能从0开始。
命令:rosbag info small.bag
path: small.bag
version: 2.0
duration: 8:38s (518s)
start: Dec 31 2019 11:33:01.01 (1577763181.01)
end: Dec 31 2019 11:41:39.00 (1577763700.00)
size: 1.4 GB
messages: 1034399
compression: none [1894/1894 chunks]
命令:
rosbag filter 2019-07-02-14-50-37-gtsam-vio-short.bag small.bag "(t.secs >= 1577763299.01 and t.secs <= 1577763359.01 and topic !='topic_name_1') or (t.secs < 1577763299.01) or (t.secs > 1577763359.01 and t.secs <= 1577763399 and topic != ''topic_name_2') or (t.secs > 1577763399 and t.secs <= 1577763459) or (t.secs > 1577763459 and t.secs <= 1577763499 and topic != ''topic_name_3') or (t.secs > 1577763499 and t.secs <= 1577763699)"