《wiki官网教程》 4 可视化与调试工具

一、保存和回放数据

1、录制数据（通过创建一个bag文件）

记录ROS系统运行时的话题数据，记录的话题数据将会累积保存到bag文件中。

1、Terminal 1:

$ roscore

Terminal 2:

$ rosrun turtlesim turtlesim_node 

Terminal 3:

$ rosrun turtlesim turtle_teleop_key

2、Terminal 4:检查看当前系统中发布的所有话题。 

$ rostopic list -v

Published topics:
 * /turtle1/color_sensor [turtlesim/Color] 1 publisher
 * /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
 * /rosout [roslib/Log] 2 publishers
 * /rosout_agg [roslib/Log] 1 publisher
 * /turtle1/pose [turtlesim/Pose] 1 publisher

Subscribed topics:
 * /turtle1/cmd_vel [turtlesim/Velocity] 1 subscriber
 * /rosout [roslib/Log] 1 subscriber

3、开始录制

Terminal 4:

$ cd ~/bagfiles

$