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Adding a topic to an existing rosbag file

asked 2019-08-22 01:04:04 -0500

jaden0747 gravatar image

Hi all, I have a bag file which includes topic /imu/data containing linear, angular velocity messages and their timestamps. How can I add a topic that has the transform calculated based on the velocity messages to my existing rosbag file? Thank you for your time.

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You can write a script using the rosbag API to do that. See the cookbook for examples.

mgruhler gravatar image mgruhler  ( 2019-08-22 04:38:07 -0500 )edit

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answered 2019-08-22 23:06:42 -0500

cassini.huygens gravatar image

One way is what was mentioned in the first comment. Another way is to let this calculation and new topic be published and using the remap tag in lunch file to change the name of the old topic and simply record rosbag again using the new topic.

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you are correct, but note that this might lead to some message missing, as the ROS publish/subscribe mechanism is not deterministic and thus cannot guarantee every message to be sent/received properly.

mgruhler gravatar image mgruhler  ( 2019-08-23 01:14:56 -0500 )edit

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Asked: 2019-08-22 01:04:04 -0500

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Last updated: Aug 22 '19