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Is there a way to recompose messages from command line?

Is there a tool that can take a complex message from one topic, then compose a new message from some of its fields and publish it on another topic?

For instance, JTCartesianController exposes rather complex state, where I need only x field of type geometry_msgs::PoseStamped. So such magic tool should do something like:

$ rosmagic /jt_cart_controller/state/x /robot_pose

rostopic is able to echo 'subtopics', but there is no way to republish them.

topic_tools relay does not work with subtopics either.

Any ideas?

Thanks

Is there a way to recompose messages from command line?

Is there a tool that can take a complex message from one topic, then compose a new message from some of its fields and publish it on another topic?

For instance, JTCartesianController exposes rather complex state, where I need only xstate/x field of type geometry_msgs::PoseStamped. So such magic tool should do something like:

$ rosmagic /jt_cart_controller/state/x /robot_pose

rostopic is able to echo 'subtopics', but there is no way to republish them.

topic_tools relay does not work with subtopics either.

Any ideas?

Thanks