clear,clc,close all

% 加载bag文件
bag = rosbag("target_pose_rm_240725_1.bag")

% 选取指定的 topic
message = select(bag,'MessageType','geometry_msgs/Pose');

% 提取指定 topic 下的所有信息
data = readMessages(message);
for i = 1:length(data)
    Pose.pos(i) = data{i}.Position;
    Pose.Orientation(i) = data{i}.Orientation;
end