Ros Bag文件中提取图片

先安装工具

   1 roscd image_view
   2 rosmake image_view
   3 sudo apt-get install mjpegtools

#find image topics
>rosbag info xx.bag

#write ros launch
>vim export.launch

<launch>
    <node pkg="rosbag" type="play" name="rosbag" required="true" args="PATH/xx.bag"/>
        <node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true" output="screen" cwd="ROS_HOME">
<!-- to image topic -->
        <remap from="image" to="/cam0/image_raw"/>
    </node>
</launch>

#mv export images from ros_home
>mv ~/.ros/frame*  xxx   

可参考http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data

其他topics写出 比如imu

>rosbag info xx.bag   #查看imu topic

>rostopic echo -b xxx.bag -p /TOPIC  > xxx.csv(或者.txt)