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Thank you for your reply. However, I've already read about ROS bag, but I've realized that it can't offer the possibility to extract only some fields from topics. I know that I should use ROS API for this kind of task but I wasn't able to write any C++ code because the C++ example on the ROS wiki is very poor for me and it is not a complete example. Is there any full executable C++ sample which I can study and modify it to extract only the field I need? I hope you can help me,

Thank you

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