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Regarding your first question:

I would like to know how to extract video from the bagfile?

I would recommend reading this tutorial from from ROS image_view wiki page.

Regarding your first question:

I would like to know how to extract video from the bagfile?

I would recommend reading this tutorial from from ROS image_view wiki page.

Update:

I summarized the steps needed to create the video in this tutorial: How to extract images from a rosbag file and convert them to video

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