代码叫做merge_bag.py
运行的时候
python merge_bag.py -v 1028msf.bag msf.bag vinReNoOutlier.bag 就把msf.bag和vinReNoOutlier.bag完全合并在一起了,时间戳打的都是原来两个bag里原始的时间戳,而不是像一边rosbag play一边rosbag record一样录的是现在这个时间戳
![](https://img-blog.csdnimg.cn/20200328094401247.png)
python merge_bag.py -v --topics '/aft_mapped_to_init /gnss/data /imu/data vinReNoOutlier' msf.bag 2019-10-28-14-40-45.bag vinReNoOutlier.bag 就把2019-10-28-14-40-45.bag里的/aft_mapped_to_init /gnss/data /imu/data和vinReNoOutlier.bag里的vinReNoOutlier合并在了一起,注意一定不能在vinReNoOutlier在/,因为本身vinReNoOutlier.bag里的话题就是vinReNoOutlier,没有/
![](https://img-blog.csdnimg.cn/20200328094257875.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0JyeWFudGFvbGk=,size_16,color_FFFFFF,t_70)
最后附上代码merge_bag.py
#!/usr/bin/env python
import sys
import argparse
from fnmatch import fnmatchcase
from rosbag import Bag
def main():
parser = argparse.ArgumentParser(description='Merge one or more bag files with the possibilities of filtering topics.')
parser.add_argument('outputbag',
help='output bag file with topics merged')
parser.add_argument('inputbag', nargs='+',
help='input bag files')
parser.add_argument('-v', '--verbose', action="store_true", default=False,
help='verbose output')
parser.add_argument('-t', '--topics', default="*",
help='string interpreted as a list of topics (wildcards \'*\' and \'?\' allowed) to include in the merged bag file')
args = parser.parse_args()
topics = args.topics.split(' ')
total_included_count = 0
total_skipped_count = 0
if (args.verbose):
print("Writing bag file: " + args.outputbag)
print("Matching topics against patters: '%s'" % ' '.join(topics))
with Bag(args.outputbag, 'w') as o:
for ifile in args.inputbag:
matchedtopics = []
included_count = 0
skipped_count = 0
if (args.verbose):
print("> Reading bag file: " + ifile)
with Bag(ifile, 'r') as ib:
for topic, msg, t in ib:
if any(fnmatchcase(topic, pattern) for pattern in topics):
if not topic in matchedtopics:
matchedtopics.append(topic)
if (args.verbose):
print("Including matched topic '%s'" % topic)
o.write(topic, msg, t)
included_count += 1
else:
skipped_count += 1
total_included_count += included_count
total_skipped_count += skipped_count
if (args.verbose):
print("< Included %d messages and skipped %d" % (included_count, skipped_count))
if (args.verbose):
print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count))
if __name__ == "__main__":
main()
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