remove_ekf_rosbag.py

import rosbag
from tqdm import tqdm
from os.path import basename

bagFileName="3velo_2018-07-28-10-00-18_nocam.bag"
bagIn = rosbag.Bag(bagFileName, 'r')
bagOut = rosbag.Bag(basename(bagFileName)+"_noekf.bag", 'w')

tot = bagIn.get_message_count()
for topic, msg, t in tqdm(bagIn.read_messages(), total=tot):
    if topic == '/tf':
        #if len(msg.transforms) > 1:
        #    import pdb; pdb.set_trace()
        #print msg.transforms[0].header.frame_id
        if msg.transforms[0].header.frame_id == "husky/odom":
            #import pdb; pdb.set_trace()
            continue

    bagOut.write(topic, msg, t)
bagIn.close()
bagOut.close()