First version rtabmap_launch working

rtabmap_legacy/launch/jfr2018/extract_scans.py

@@ -0,0 +1,21 @@
+import rosbag
+import tf
+import sys
+from tf.msg import tfMessage
+
+if len(sys.argv) < 2:
+	print 'Usage: $ python extract_scans.py "2012-01-25-12-14-25"'
+	sys.exit(0)
+
+bagName = sys.argv[1]
+with rosbag.Bag(bagName + '_scans.bag', 'w') as outbag:
+	print 'Processing ' + bagName + '.bag...'
+	for topic, msg, t in rosbag.Bag(bagName + '.bag').read_messages():
+		if topic == "/tf":
+			outbag.write(topic, msg, t)
+		elif topic == "/base_scan":
+			outbag.write(topic, msg, t)
+                elif topic == "/robot_pose_ekf/odom_combined":
+			outbag.write(topic, msg, t)
+
+print 'Output: ' + bagName + '_out.bag'