ROS专栏之rosbag

ros之rosbag

我是大自然的搬运工。。。。

rosbag record

Record all topics.

rosbag record -a

Prepend PREFIX to beginning of bag name before date stamp.

rosbag record -o session1 /chatter

Record to bag with name NAME.bag.

rosbag record -O session2_090210.bag /chatter

Specify the maximum duration of the recorded bag file.

rosbag record --duration=30 /chatter
rosbag record --duration=5m /chatter
rosbag record --duration=2h /chatter

Split the bag when maximum size or duration is reached

rosbag record --split --size=1024 /chatter
rosbag record --split --duration=30 /chatter
rosbag record --split --duration=5m /chatter
rosbag record --split --duration=2h /chatter

其他用法见:

rosbag record -h

rosbag info

Display a summary of the contents of the bag files.

rosbag info session*.bag

Print information in YAML format.

rosbag info -y /path/to/my.bag

其他用法见

rosbag info -h

rosbag play

Play back (publish) the contents of the given bags.

rosbag play recorded1.bag recorded2.bag

注：如果播放两个及以上bag包，那么他们会第一帧对其，后面根据第一帧时间戳的时间差播放。

Start SEC seconds into the bags.

rosbag play -s 5 recorded1.bag

Loop playback.

rosbag play -l recorded1.bag

Multiply the publish rate by FACTOR.

rosbag play -r 10 recorded1.bag

更多用法见：

rosbag play -h

rosbag filter

filter <in-bag> <out-bag> <expression>

eg.

rosbag filter my.bag only-tf.bag "topic == '/tf'"

filter by topic

rosbag filter my.bag out.bag "topic == '/tf' or topic == '/tf2'"

filter by time

rosbag filter my.bag out.bag "t.to_sec() >= 123444.77 and t.to_sec() <= 234545.88"

更多用法

rosbag filter -h

rosbag compress

rosbag compress is a command-line tool for a backup of bag file. Currently, there are two supported formats:BZ2 and LZ4. BZ2 is selected by default. BZ2 generally produces smaller bags than LZ4, However, BZ2 is typically much slower than LZ4.