process_bag.py

import rosbag
import os
import sys

def remove_tf(inbag,outbag,frame_ids):
  rospy.loginfo('   Processing input bagfile: %s', inbag)
  rospy.loginfo('  Writing to output bagfile: %s', outbag)
  rospy.loginfo('         Removing frame_ids: %s', ' '.join(frame_ids))

  outbag = rosbag.Bag(outbag,'w')
  for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
      if topic == "/tf":
          new_transforms = []
          for transform in msg.transforms:
              if transform.child_frame_id not in frame_ids:
                  new_transforms.append(transform)
          msg.transforms = new_transforms
      outbag.write(topic, msg, t)
  rospy.loginfo('Closing output bagfile and exit...')
  outbag.close();