rosbag中各指令的使用

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以下是rosbag常用的操作指令：

  • record：录制特定topic的rosbag包
  • info：bag包的信息
  • play：回放一个或多个bag包
  • check：核对某bag包是否可播放
  • fix：修复bag包以在当前系统播放
  • filter：转换包
  • compress：压缩包
  • decompress：接压缩包

rosbag record

record <topic-names>
\$ rosbag record rosout tf cmd_vel

  • -a, –all : Record all topics.
  • -e, –regex : Match topics using regular expressions.
  • -d, –duration : Specify the maximum duration of the recorded bag file.
    \$ rosbag record -d=30 /chatter
    \$ rosbag record -d=5m /chatter
    \$ rosbag record –duration=2h /chatter
  • -o PREFIX, –output-prefix=PREFIX : Prepend PREFIX to beginning of bag name before date stamp.
    \$ rosbag record -o session1 /chatter
  • -O NAME, –output-name=NAME : Record to bag with name NAME.bag.
    \$ rosbag record -O session2_090210.bag /chatter
  • –node=NODE : Record all topics subscribed to by a specific node
    \$ rosbag record –node=/joy_teleop

rosbag info

info <bag-files>

  • -y, –yaml : Print information in YAML format.
    \$ rosbag info -y /path/to/my.bag

rosbag play

play <bag-files>

  • -q, –quiet : Suppress console output.
    \$ rosbag play -q recorded1.bag
  • -i, –immediate : Play back all messages without waiting.
    \$ rosbag play -i recorded1.bag
  • –pause : Start in paused mode.
    \$ rosbag play –pause recorded1.bag
  • –queue=SIZE : Use an outgoing queue of size SIZE (defaults to 0. As of 1.3.3 defaults to 100).
    \$ rosbag play –queue=1000 recorded1.bag
  • –clock : Publish the clock time
    \$ rosbag play –clock recorded1.bag
  • –hz=HZ : Publish clock time at frequency HZ Hz (default: 100).
    \$ rosbag play –clock –hz=200 recorded1.bag
  • -d SEC, –delay=SEC : Sleep SEC seconds after every advertise call (to allow subscribers to connect).
    \$ rosbag play -d 5 recorded1.bag
  • -r FACTOR, –rate=FACTOR : Multiply the publish rate by FACTOR.
    \$ rosbag play -r 10 recorded1.bag
  • -s SEC, –start=SEC : Start SEC seconds into the bags.
    \$ rosbag play -s 5 recorded1.bag
  • -u SEC, –duration=SEC : Play only SEC seconds from the bag files.
    \$ rosbag play -u 240 recorded1.bag
  • -l, –loop : Loop playback.
    \$ rosbag play -l recorded1.bag
  • -k, –keep-alive : Keep alive past end of bag (useful for publishing latched topics).
    \$ rosbag play -k recorded1.bag

rosbag check

check <bag-file>
\$ rosbag check old.bag

rosbag filter

filter <in-bag> <out-bag> <expression>
\$ rosbag filter my.bag only-tf.bag “topic == ‘/tf’”

  • topic : the topic of the message
  • m : the message
  • t : time of message. The time is represented as a rospy Time object (t.secs, t.nsecs)
  • To filter based on time, convert the time to a floating point number (use UNIX time, to get this value, use rosbag info):
    rosbag filter input.bag output.bag “t.to_sec() <= 1284703931.86”