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It's not clear from your question what you've tried, so if this is not what you're looking for, please provide more specific information. There are two basic ways to play back topics from a rosbag file:
rosbag play <filename> from the command line as BV_Pradeep suggested. See the wiki for more information.rosrun rqt_bag rqt_bag from the command line to open an interactive GUI. Open a bag file, right-click the topic you want, and check "Publish" in the menu. Then click the play button. See the wiki for more information.The first option is more useful in general, but the second option may be good for getting started or troubleshooting certain situations.
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