ROS基础学习笔记(五)
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记录数据和回放:
记录数据:
1.启动案例程序:
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
2.可以查看所有主题:
rostopic list -v
显示:
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [rosgraph_msgs/Log] 2 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 subscriber
* /rosout [rosgraph_msgs/Log] 1 subscriber
3.创建文件夹,将信息保存:
mkdir ~/bagfiles
cd ~/bagfiles
rosbag record -a
此时控制台显示运行中,之后你的操作将会你被保存起来,可以控制乌龟运动试试,结束之后回到这个控制台ctrl+c结束保存。
回放数据:
1.单纯查看数据:
rosbag info <your bagfile>
rosbag info 2016-07-12-18-09-16.bag
显示:
path: 2014-12-10-20-08-34.bag
version: 2.0
duration: 1:38s (98s)
start: Dec 10 2014 20:08:35.83 (1418270915.83)
end: Dec 10 2014 20:10:14.38 (1418271014.38)
size: 865.0 KB
messages: 12471
compression: none [1/1 chunks]
types: geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
turtlesim/Color [353891e354491c51aabe32df673fb446]
turtlesim/Pose [863b248d5016ca62ea2e895ae5265cf9]
topics: /rosout 4 msgs : rosgraph_msgs/Log (2 connections)
/turtle1/cmd_vel 169 msgs : geometry_msgs/Twist
/turtle1/color_sensor 6149 msgs : turtlesim/Color
/turtle1/pose 6149 msgs : turtlesim/Pose
2.回放操作:
rosbag play <your bagfile>
rosbag play 2016-07-12-18-09-16.bag
或者:
rosbag play -r 2 <your bagfile>
记录数据:
1.启动案例程序:
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
2.可以查看所有主题:
rostopic list -v
显示:
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [rosgraph_msgs/Log] 2 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 subscriber
* /rosout [rosgraph_msgs/Log] 1 subscriber
3.创建文件夹,将信息保存:
mkdir ~/bagfiles
cd ~/bagfiles
rosbag record -a
此时控制台显示运行中,之后你的操作将会你被保存起来,可以控制乌龟运动试试,结束之后回到这个控制台ctrl+c结束保存。
回放数据:
1.单纯查看数据:
rosbag info <your bagfile>
rosbag info 2016-07-12-18-09-16.bag
显示:
path: 2014-12-10-20-08-34.bag
version: 2.0
duration: 1:38s (98s)
start: Dec 10 2014 20:08:35.83 (1418270915.83)
end: Dec 10 2014 20:10:14.38 (1418271014.38)
size: 865.0 KB
messages: 12471
compression: none [1/1 chunks]
types: geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
turtlesim/Color [353891e354491c51aabe32df673fb446]
turtlesim/Pose [863b248d5016ca62ea2e895ae5265cf9]
topics: /rosout 4 msgs : rosgraph_msgs/Log (2 connections)
/turtle1/cmd_vel 169 msgs : geometry_msgs/Twist
/turtle1/color_sensor 6149 msgs : turtlesim/Color
/turtle1/pose 6149 msgs : turtlesim/Pose
2.回放操作:
rosbag play <your bagfile>
rosbag play 2016-07-12-18-09-16.bag
或者:
rosbag play -r 2 <your bagfile>
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