how to record and play back data？ROS_ros play 结束之后-优快云博客

本文链接：https://blog.youkuaiyun.com/yguoelect/article/details/53185800

本文介绍如何使用ROS（Robot Operating System）进行数据记录与回放。通过一系列命令操作，如启动ROS核心进程、运行海龟模拟节点、记录数据到.bag文件以及回放这些数据，帮助读者掌握ROS的基本使用技巧。

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1、运行下面命令

roscore
rosrun turtlesim turtlesim_node 
rosrun turtlesim turtle_teleop_key

2、可有可无用于查看rostopic列表

rostopic list -v

display：
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /rosout [rosgraph_msgs/Log] 3 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher

Subscribed topics:
* /rosout [rosgraph_msgs/Log] 1 subscriber
* /chatter [std_msgs/String] 1 subscriber
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 subscriber
3、创建一个裤袋文件bagfiles （ps： making a temporary directory to record data）

mkdir ~/bagfiles      
cd ~/bagfiles
rosbag record -a      # 生成begins with the year, data, and time and the suffix .bag

4、在～/bagfiles目录查看 .bag 文件

rosbag info <your bagfile>
we will see a list about: topic name主题名 、类型、每条主题包含的信息条数
This tells us topic names and types as well as the number (count) of each message topic contained in the bag file.

5、reproduce behavior in the running system重现行为：

rosbag play <your bagfile>

你会看到：

rosbag play <your bagfile>

6、记录数据的一个子集

线运行：rostopic list -v 查看发布者和订阅着选择你要记录的主题

rosbag record -O subset 主题1 主题2 主题3 ...

rosbag record -O subset /turtle1/cmd_vel /turtle1/pose