rosbag development

Development using recorded data

This guide explains how to use rosbags to work with pre-recorded data. Make sure to complete the initial setup and setup your simulation environment before proceeding.

Content:

rosbags are the main data format for recording experiments in ROS. They record messages that are transported over ROS topics, and can be replayed in your local environment. d

You can open and inspect bagfiles with rosrun rqt_bag rqt_bag.

Playing back rosbags

You can play a bagfile on loop:

rosbag play -l your_bagfile

To view the robots and scene, first start up roslaunch o2ac_moveit_config demo.launch once, so that the robot_description is published. Then:

rosrun rviz rviz

In Rviz, add a "PlanningScene" in the "moveit_ros_visualization" folder via the "Add" button in the "Displays" panel. This will display the robots.

To view the camera images, run:

 ```
 rosrun rqt_image_view rqt_image_view
 ```

Practical usage'

If you want to subscribe to an image view at a specific time, you can loop a section of the bag.

To loop a bag from 0:50 to 0:55 section, do:

rosbag play -l -s 50 -u 55 your_bagfile.bag

Recording your own rosbags

There is a launch file prepared in o2ac_scene_description that you can use to record the whole system: roslaunch o2as_scene_description record_rosbag.launch

In general, you can use rosbag record:

rosbag record -a -O your_bagfile.bag

Troubleshooting

• The camera node crashes when I start recording

Exclude the uncompressed depth images from the rosbag with the argument -x