ROSBag filter and Performance
My work enviorment : OS : Ubuntu 18.0.4 ROS : melodic Language : Python / C++ GPU : None CPU : 4 Core
I have a huge ROS bag file (30 GB+), I do filter its data for multiple topics using ROS filter. but it takes a huge time (5 minutes +). Ex:
rosbag filter my_bag-in.bag my_bag-out.bag "topic == '/vehicle/wheel_speed_report' or topic == '/camera/image_raw' or topic == '/vehicle/filtered_accel'
Is there a better way of filtering rosbag file for multiple topics? Any suggestion or help is highly appreciated.
I'm not saying it couldn't (or shouldn't) be better, but just to put it in perspective a little: 30GB+ processed in 5 minutes is approximately 100MB/sec of data processing throughput.
So that's reading in the data, filtering and writing it back.
That's not that bad actually.
But it's not an adequate performance in real-time. I need to find a solution to improve it.
"real-time"? I'm not sure I understand what you mean by that.