Take certain parts of multipe rosbags and merge these to one rosbag

asked 2014-01-27 01:09:48 -0500

jringel77
43 ●2 ●3 ●6

Is it possible to take different parts from a rosbag (multiple rosbags) and put them all together at the end to one final rosbag?

So for example: take from 1.bag: 30s - 55s take from 2.bag: 75s - 90s take from 3.bag: 40s - 60s

merge these 3 parts to final.bag

all of these bags have the same topic

answered 2014-02-11 00:28:32 -0500

demmeln
4306 ●32 ●45 ●69

updated 2014-02-11 09:13:12 -0500

I believe you will have to write your own tool. It should be quite easy with the rosbag python api. I have small scripts for time filtering and merging and of bag files and they are all quite straight forward.

Edit: Here are the scripts. The time filtering is actually just a hacky invocation of a rosbag filter, but the merge script is gerneral purpose and you can even select only wanted topics with wildcards.

https://gist.github.com/NikolausDemme...

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Comments

Thanks!!!!

alex.filgueira ( 2014-02-11 00:31:51 -0500 )edit

hey Demmeln could you explain how to properly use rosbag_filter_subsequence.sh? This tool seems to be exactly what I need, but I can't seem to get time filtering to work and ended up with a 2.7 gb bag file spanning multiple days

davelkan ( 2015-07-09 14:49:42 -0500 )edit

It is not a general purpose tool, but just an example of how you might want to use "rosbag filter". You will have to adapt it to your use case.