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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>

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.