I have not used it, but there is a script called "bag2png.py" in
rosrecord.  I expect it will do what you want.

On Sun, May 30, 2010 at 9:06 PM, Kurt Konolige
<konolige@willowgarage.com> wrote:
> Sorry if this has already been covered -
>
> Any way to take the images from a bag file and put them into normal
> PNG-type files in a directory?
>
> Cheers --Kurt
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