exclude some topics from rosbag play

rosbag

asked 2016-03-10 04:17:05 -0500

Felix Duvallet
539 ●20 ●25 ●31

updated 2018-05-23 09:45:49 -0500

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 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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 ( 2017-01-05 16:25:17 -0500 )edit

Thanks for the answer. How do we filter several topics?

Pototo ( 2022-03-16 14:36:46 -0500 )edit

Have a look at this question: https://answers.ros.org/question/1910... You can use "topic != 'topic1' and topic != 'topic2' and ... "

labude ( 2022-10-28 07:34:16 -0500 )edit

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answered 2017-08-01 14:28:34 -0500

Jay Gowdy
136 ●2 ●5 ●5

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 ( 2017-08-02 15:49:44 -0500 )edit

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answered 2018-09-13 01:06:18 -0500

josh_m
1

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 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

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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