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Use ros_readbagfile, like this:

ros_readbagfile <mybagfile.bag> [topic1] [topic2] [topic3] [...] [topic1000]

I recently wrote this script, and this tutorial here: http://wiki.ros.org/ROS/Tutorials/reading%20msgs%20from%20a%20bag%20file

See the tutorial for full instructions.

Thanks to this answer for getting me started: https://answers.ros.org/question/240829/filter-out-messages-from-a-ros-bag/?answer=240861#post-id-240861.

Use For anyone searching just how to extract, or read messages out of a bag file, as of the year 2020 you can now use ros_readbagfile, like this:

ros_readbagfile <mybagfile.bag> [topic1] [topic2] [topic3] [...] [topic1000]

I recently wrote this script, and this tutorial here: http://wiki.ros.org/ROS/Tutorials/reading%20msgs%20from%20a%20bag%20file

See the tutorial for full instructions.

Thanks to this answer for getting me started: https://answers.ros.org/question/240829/filter-out-messages-from-a-ros-bag/?answer=240861#post-id-240861.