ros之rosbag使用

ros之rosbag

我是大天然的搬運工。。。。

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

• 其餘用法見:

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

• 其餘用法見

rosbag info -h

rosbag play

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

rosbag play recorded1.bag recorded2.bag

注： 若是播放兩個及以上bag包，那麼他們會第一幀對其，後面根據第一幀時間戳的時間差播放。

• 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

• 更多用法見：

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.

compress <bag-files>

• Compress the given bag files using BZ2.

rosbag compress *.bag

• Use LZ4 to compress data.

rosbag compress --lz4 *.bag

• 更多用法見：

rosbag compress -h

rosbag decompress

decompress <bag-files>

• Decompress the given bag files.

rosbag decompress *.bag

參考

rosbag/Commandline - ROS Wiki