ROSのbagファイルから特定トピックをcsv形式で出力する
めちゃくちゃ簡単。
環境
- Ubuntu 14.04
- ROS Indigo
bagファイルをcsv形式で出力
以下のコマンド1行でいける。
$ rostopic echo -b bagファイル.bag -p /トピック名 > csvファイル.csv
例えば、Twist形式だと以下のようになる。
$ rostopic echo -b bagファイル.bag -p /velocity %time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z 1458645072419031373,0.133069615205,0.0,0.0,0.0,0.0,0.5369403653 1458645072485691182,0.143589122067,0.0,0.0,0.0,0.0,0.447242712703 1458645072552957164,0.153924085326,0.0,0.0,0.0,0.0,0.377736128001 1458645072620157095,0.164047896997,0.0,0.0,0.0,0.0,0.322948435252 1458645072687306707,0.173941054616,0.0,0.0,0.0,0.0,0.279093465935 1458645072754349028,0.183588971233,0.0,0.0,0.0,0.0,0.24350186043 ...
特定の速度成分のみを取り出すのも簡単。
$ rostopic echo -b bagファイル.bag -p /velocity/linear/x %time,field 1458645057721221180,0.191296330546 1458645057788266707,0.18462966388 1458645057856087891,0.177962997213 1458645057922422050,0.171296330546 1458645057989690875,0.16462966388 ...