Another option is tf's change_notifier node, which lets you specify a set of
transforms to republish at a given frequency with optional translational and
angular thresholds.

An example of instantiating the node can be found here:
navigation_pr2.launch<https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_web_apps/tags/cturtle/navigation_application/navigation_pr2.launch>
.

Tim

On Mon, Aug 9, 2010 at 1:31 PM, Brian Gerkey <gerkey@willowgarage.com>wrote:

> On Mon, Aug 9, 2010 at 1:16 PM, Travis Deyle <beambot@gmail.com> wrote:
> > I was just wondering: Is there a way to record a subset of the tf tree
> when
> > doing 'rosbag record tf'?
> >
> > To provide a bit of context, I'm recording ~400 seconds of data.  The
> > desired sensor readings occupy all of 500 kB, but the tf occupies upwards
> of
> > 140 MB.  I only need a very small subset of the tf tree (not the whole
> PR2
> > tf tree): /map, /base_link, etc.
>
> One option is to filter the bag after recording it.  E.g., to get all
> the non-tf messages, plus the tf messages for one particular transform
> (in this case, odom_combined->base_footprint):
>
> rosbag filter in.bag out.bag 'topic != "tf" or
> m.transforms[0].header.frame_id == "odom_combined" and
> m.transforms[0].child_frame_id == "base_footprint"'
>
> If the transform of interest arrives in an array of length > 1 (e.g.,
> from robot_state_publisher), then you'll have to do a little more
> work.
>
>        brian.
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