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Yep it is (as simple as it should be)! Just create a counter and increment and assign it i update()

Snippet of the migration rules class, ( see http://wiki.ros.org/rosbag/migration ) :

migrated_types = [  ]

valid = True

counter = 0

def update(self, old_msg, new_msg):
    self.counter += 1
    new_msg.obj_id = self.counter

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