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1过滤单个topic
rosbag filter input.bag only-tf.bag "topic == '/tf'"
2过滤多个topic
rosbag filter input.bag output.bag "topic == '/velodyne_point_cloud' or topic =='/visensor/imu' or topic == '/visensor/left/image_raw'"
3.根据时间过滤
rosbag filter input.bag output.bag "t.to_sec() <= 1284703931.86"
4.同时过滤topic和时间
rosbag filter input.bag output.bag "topic == '/odometry/gps' and t.to_sec() <= 1284703931.86"
多个topic和时间
rosbag filter input.bag output.bag "(topic == '/velodyne_point_cloud' or topic =='/visensor/imu' or topic == '/visensor/left/image_raw') and (t.to_sec() >= 1506117983.884751 and t.to_sec() <= 1506118069.884751)"
