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rosbag : rewrite the values of a topic

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Dear all, what can be the best way to rewrite the values of the messages in a topic in a bag file. For instance, how can I go about creating a new bag that contains modified values of a topic of another bag file (example : multiply the twists in topic of nav_msgs/Odometry messages and store the results in a new bag) ? Thanks a lot for your help.

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