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exclude some topics from rosbag play

asked 2016-03-10 04:17:05 -0600

Felix Duvallet gravatar image

updated 2018-05-23 09:45:49 -0600

I have a bag file with a bunch of topics inside of it, is it possible to exclude some topics from being played back?

For example, the bag file might have:

topics:      /camera/depth/image            150 msgs    : sensor_msgs/Image          
             /camera/rgb/image_color        150 msgs    : sensor_msgs/Image          
             /joint_states                 2500 msgs    : sensor_msgs/JointState     
             /rosout                         35 msgs    : rosgraph_msgs/Log          
             /rosout_agg                     35 msgs    : rosgraph_msgs/Log          
             /tf                           7697 msgs    : tf2_msgs/TFMessage

And I might be interested in playing back everything except the /tf topic.

Is there a shorter way than rosbag play file.bag --topics <topic> with all topics?

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answered 2016-03-10 06:51:12 -0600

gvdhoorn gravatar image

If you don't mind having to create a new bag, then perhaps you could use the filter command.

To end up with a new bag file that excludes the /tf topic would be something like:

$ rosbag filter file.bag file-no-tf.bag "topic != '/tf'"
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On my system this is taking about 10 minutes per gigabyte, also the bags were 10 minutes in duration- I'm not sure if that is a coincidence.

lucasw gravatar imagelucasw ( 2017-01-05 16:25:17 -0600 )edit
6

answered 2017-08-01 14:28:34 -0600

Jay Gowdy gravatar image

If you don't mind the potential wastefulness, I believe you can get the effect you want by remapping the offending topic to an unused name, like this

rosbag play my_bag.bag /tf:=/tf_dev_null

I'm fairly new to ROS, but I believe this won't even cause wasted message bandwidth unless something in the system subscribes to it under its new name.

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Yepp, can confirm this works out..

Wolf gravatar imageWolf ( 2017-08-02 15:49:44 -0600 )edit
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answered 2018-09-13 01:06:18 -0600

josh_m gravatar image

This problem was annoying me enough to write a quick tool to solve the issue. You can't avoid playing all the topics, but you can rename them so you don't have to worry about them.

It's at: https://github.com/neomanic/rosbag_pl...

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answered 2016-03-10 04:28:07 -0600

As far as I know you're right. There is not simpler way than defining each of the topics you do want to play back. If you need to run this a lot though, you could always make a simple bash file with the command in it to save you all the typing!

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Asked: 2016-03-10 04:17:05 -0600

Seen: 12,295 times

Last updated: May 23 '18