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How to convert .csv or .mat file to ros?

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I collect the odom and IMU data by dspace microautobox and at the same time I collected lidar data directly on ROS. The odom data is .mat file now and it can be converted to .csv file. The lidar data has been recorded as a rosbag file. Now I want to first convert the odom data to something available for ROS and then merge the two data to a single rosbag file. How can I make it? I searched online for a long time but only can find how to convert rosbag file to other formats...

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