topic_renamer.py

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#!/usr/bin/env python
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from __future__ import print_function

import rospy
import rosbag

def rename_topic(intopic, inbag, outtopic, outbag):
    rebag = rosbag.Bag(outbag, 'w')
    for topic, msg, t in rosbag.Bag(inbag).read_messages(raw=True):
        rebag.write(outtopic if topic == intopic else topic, msg, t, raw=True)
    rebag.close()

if __name__ == '__main__':
    import sys
    if len(sys.argv) == 5:
        rename_topic(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])
    else:
        print("usage: topic_renamer.py <intopic> <inbag> <outtopic> <outbag>")