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you can use bagpy in python, give which topic you want, the topic data will be automatically extracted into a csv file.
For example, if you want to extract '/odom' topic, after running below code, you will find a csv file named "odom.csv" in the script folder. Hope it helps.
from bagpy import bagreader
b = bagreader('./sample_mission.bag')
bmesg = b.message_by_topic('/odom')