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as @silva mention bagpy is the best way to do it out of the box, but is extremely inefficient as basically bagpy will create files for each of your messsages (image if you are working with LiDAR data...)

• The more efficient alternative is to create a thread that read the bag and your main thread just take the messages when they are necessary.

as @silva @osilva mention bagpy is the best way to do it out of the box, but is extremely inefficient as basically bagpy will create files for each of your messsages (image if you are working with LiDAR data...)

• The more efficient alternative is to create a thread that read the bag and your main thread just take the messages when they are necessary.

as @osilva mention bagpy is the best way to do it out of the box, but is extremely inefficient as basically bagpy will create files for each of your messsages (image if you are working with LiDAR data...)

• The more efficient alternative is to create a thread that read the bag and your main thread just take the messages from the queue when they are necessary.