ROS rosbag filter command for filtering out specific tf transforms from your bag files

rosbag_tf_filter

rosbag filter original.bag filtered.bag "topic != '/tf' or ((len(m.transforms) > 0 and m.transforms[0].header.frame_id != 'odom') and (len(m.transforms) <= 1 or (len(m.transforms) > 1 and m.transforms[1].header.frame_id != 'odom')) and (len(m.transforms) <= 2 or (len(m.transforms) > 2 and m.transforms[2].header.frame_id != 'odom')) and (len(m.transforms) <= 3 or (len(m.transforms) > 3 and m.transforms[3].header.frame_id != 'odom')) and (len(m.transforms) <= 4 or (len(m.transforms) > 4 and m.transforms[4].header.frame_id != 'odom')))"

Note that if you have > 5 transforms in any one /tf message, you'll need to add some conditions for those. This script is only filtering tf transforms with a frame_id of "odom," but customizing it for your needs should be pretty straightforward. It could be rolled into a shell script, but you'll want to have some means of specifying parent and/or child frames.

Three years later copy/paste is not working, at least for me. Had to use '/tf' instead of 'tf'.

Might save someone half of a day, since the link is in googles top answers.

And thanks Tom, of course.

Two years later and I finally read this comment. Fixed the gist. :)

6 years later, worked like a charm. :)

How do we filter list of topics?

https://answers.ros.org/question/191003/can-rosbag-filter-create-a-new-bag-file-with-multiple-topics-within-it/