Extract single message from large rosbag

Hi,

I have a rosbag collected from a SLAM algo that I left to run overnight, which publishes an incrementally updated map as a PointCloud2 message.

I would like to extract only the last message (final map), so that I can convert it to a PCD file with pcl_ros.

I find myself unable to find a way to perform such a simple operation.

Any tips?

Asked by lio94 on 2023-05-11 03:38:17 UTC

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Answers

You can write a Python scrip to extract msgs from a rosbag.

https://wiki.ros.org/rosbag/Code%20API

Asked by Hamid Didari on 2023-05-11 04:04:48 UTC

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The diagnostic_analysis package can convert a log of diagnostics data into a series of CSV files. Robot logs are recorded with rosbag, and can be processed offline using the scripts in this package.

Asked by MichaelShuo on 2023-06-27 20:59:22 UTC