mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
22 lines
602 B
Python
Executable File
22 lines
602 B
Python
Executable File
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'
|