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I know this is quite old, but there's also this option:
rosrun rosbag topic_renamer.py <in topic> <in bag> <out topic> <out bag>
Another option is to simply remap the topics when you use rosbag play. For example, if you have the topic /foo inside the bag, you can to this to rename it (when published) into /bar:
rosbag play file.bag /foo:=/bar
The leading '/' might not be needed.
I'd use the rosbag Python API:
from rosbag import Bag
with Bag('Y.bag', 'w') as Y:
for topic, msg, t in Bag('X.bag'):
Y.write('/b_topic' if topic == '/a_topic' else topic, msg, t)
Awesome...saved me a bunch of time finding this. Though I do have one oddity as a result - the bag is now 2x the size. Anyone know why?
You might consider using the tf_remap node that comes with the tf package: http://www.ros.org/wiki/tf#Nodes
From the wiki:
tf_remap
tf_remap listens to the /tf_old topic and republishes transforms on the /tf topic. This is mainly used with out-of-date bag files that need their coordinate frame IDs updated. The typical operation for this node is to play the bag file with /tf:=/old_tf. The tf_remap node is run with a ~mappings parameter that describes the mapping of frame IDs from old to new.
Not sure if rosbag filter can do it, but you should be able to rename the topics using the rosbag API. For an example that reads in data on the tf topic and then writes it back out, see rosbag cookbook. That should be a good example to get you started.
Asked: 2011-03-11 23:59:03 -0500
Seen: 20,752 times
Last updated: Jan 23 '16
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