marcoesposito1988

# inspired from https://yodahuang.github.io/articles/How-to-let-ROS-play-happily-with-fish/
# added detection of catkin workspaces generated with catkin-tools
# added workaround for numeric issues with ROS melodic when the locale is not English https://github.com/ros-visualization/rviz/issues/1249#issuecomment-403351217
# added workaround for Rviz displaying in only a portion of the screen https://github.com/ros-visualization/rviz/issues/1203#issuecomment-438213723


function catkinSource --on-variable PWD
    status --is-command-substitution; and return
    if test -e ".catkin_workspace" -o -d ".catkin_tools"
        bass source devel/setup.bash

marcoesposito1988

import rospy
import rosbag

inpath  = '/path/to/original/bag.bag'
outpath = '/path/to/output/bag.bag'
trigger = lambda topic, msg, _: topic == '/tf'  and msg.transforms[0].header.frame_id == '/world'

inbag = rosbag.Bag(inpath)

tf_static_messages = list(inbag.read_messages(('/tf_static')))