Nifti and epuck test @asl

rosbag record /tf /map /ar_pose_marker /dynamic_point_cloud /map_metadata /viz/camera_0/image/compressed /viz/camera_0/camera_info /viz/camera_1/camera_info /viz/camera_1/image/compressed /viz/camera_2/camera_info /viz/camera_2/image/compressed /viz/camera_3/camera_info /viz/camera_3/image/compressed /viz/camera_4/camera_info /viz/camera_4/image/compressed


rosbag record /epuck4/camera/image_raw/compressed /epuck4/camera/camera_info

1. open "image_view"check:
$rosrun image_view image_view image:=/epuck4/camera/image_raw transport:=compressed
2. backgroud roscore:
$ roscore &
3. rosbag record:
rosbag record /epuck4/camera/image_raw/compressed /epuck4/camera/camera_info


______________________________________________
1.rostopic hz check
$ rostopic hz /epuck4/camera/camera_info
2. $ rosnode list


rosrun image_transport republish compressed in:=/epuck4/camera/image_raw _image_transport:=compressed raw out:=/epuck4/camera/image_raw

查看tf
rosrun tf tf_monitor


20120726

程序把ＮＩＦＴＩ有关的先调试好再继续。你也可以只让NIFTI的ＢＡＧ只放一次，
这样如果正确的话，以前的ar_pose可以把所有的位置都发布成/4x4_XX_stable.

只要不关闭你的./tf_*_monitor.py 那些stable的frames就一直会在那里。

1 这种情况下就可以调试epuck bag了。
2 这种情况下可以另外记一个bag,只保存当下的/tf, 这样所有的frames都在这个bag里。以后做这类简单的实验，也就不用每次都把nifti bag从头跑一遍了。