Filter and play a bag file
I'd like to play a bag file as part of a roslaunch and apply a filter to it at the same time. I couldn't find anything better than doing the filter step beforehand, which is awful if one needs a number of stripped versions of the same bag file.
Am I missing something here?
Thank you all
What do you mean by "filter" the data?
The same rosbag filter does. But without creating an aditional bag in the process.
What happens if you just remap the topics you want to filter out in the launch file? Send them all to dummy topic names. Also, you may be able to use something in topic_tools.
That's a good solution! But what if I need to exclude specific messages from a single topic? Thinking about TF messages here.
Filtering
tfmessages is hard to do even withrosbag filter. One option might be to remap all of/tfto another topic, and then use thetopic_tools transformtool to re-broadcast transforms you want to keep, and change the frame_id on those you don't want to keep. Just spitballing.