ROSbag

rosbag: youtube

1. 개요

  • In ROS, all the messages of topics are recorded and time-stamped into a .bag file called ROSBAG.
  • This file can be used for replaying the messages on RViz as same timing as recording.

2. CMD

저장 : rosbag record -o chatter.bag /chatter

  • -a : 모두 저장

재생 : rosbag play /{path-to-file}/bagfile_name.bag

  • 반복 -l or --loop

자르기

  • rosbag filter input.bag output.bag "t.secs >= 1531425960 and t.secs <= 1531426140"

특정 Topic 제외 하고 저장 or 재생

  • $ rosbag filter file.bag file-no-tf.bag "topic != '/tf'"
  • $ rosbag play my_bag.bag /tf:=/tf_dev_null

pcd로 저장

  • rosrun pcl_ros bag_to_pcd <input_file.bag> /<topic> <output_directory> # pcl_ros 설치 필요

3. 포맷

# This should output something like this: header:

  seq: 7318
  stamp:
    secs: 1492883544
    nsecs: 965464774
  frame_id: ''
status:
  status: 0
  service: 1
latitude: 37.4267093333
longitude: -122.07584
altitude: -42.5
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 0

간혹 용량을 줄이기 위해 /velodyne_packets만 있고, /velodyne_points가 안 보일경우 컨버팅 툴 사용

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