ROSBag filter and Performance

asked 2021-06-03 01:43:35 -0600

sandy gravatar image

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.

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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.

gvdhoorn gravatar image gvdhoorn  ( 2021-06-03 01:58:56 -0600 )edit

But it's not an adequate performance in real-time. I need to find a solution to improve it.

sandy gravatar image sandy  ( 2021-06-03 03:36:14 -0600 )edit

"real-time"? I'm not sure I understand what you mean by that.

gvdhoorn gravatar image gvdhoorn  ( 2021-06-03 03:37:29 -0600 )edit