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Export topic from bag at different rate

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Hi to all, i have recorded several bag files which contain different topics recorded at different rates. For example: topics: /sensor/FilterStatus 11514 msgs : diagnostic_msgs/DiagnosticStatus /sensor/Imu 11497 msgs : sensor_msgs/Imu /sensor/NavSatFix 11514 msgs : sensor_msgs/NavSatFix /sensor/SystemStatus 11498 msgs : diagnostic_msgs/DiagnosticStatus /sensor/Twist 11514 msgs : geometry_msgs/Twist /robodyne/enc 718 msgs : std_msgs/String /robodyne/io 719 msgs : std_msgs/String /robodyne/sys 719 msgs : std_msgs/String /robodyne/velocity 719 msgs : std_msgs/String /rosout 9 msgs : rosgraph_msgs/Log As you can see, messages related to `sensor` are sampled at a very higher rate than the `robodyne` messages. I need to have all the topics with the same amount of messages and so I would like to find a way to filter the `sensor` messages and extract only 10 samples per second. Can you suggest me a solution, please?

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