parse_heapy_bag.py

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#! /usr/bin/python
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#* Author: Eitan Marder-Eppstein
#***********************************************************
import roslib
roslib.load_manifest('megatree')

import rosbag

from sensor_msgs.msg import PointCloud

in_bag = rosbag.Bag('cloud_map_big.bag')

out_bag = rosbag.Bag('cloud_map_pcd.bag', 'w')


for topic, msg, t in in_bag.read_messages(topics=['map']):
    out_bag.write('clouds', msg.points)

in_bag.close()
out_bag.close()