rosbag

record

• 录制指定的topic: rosbag record topic1 topic2
• 录制所有的topic: rosbag record -a
• 录制完保存 bag 包名称为 “session1 + 时间戳.bag” 格式：rosbag record -o session1 /chatter
• 录制完保存为指定文件名 “session2-090210.bag” 格式： rosbag record -O session2-090210.bag /chatter
• 录制该主题1000个消息限制: rosbag record -l 1000 /chatter
• 持续30s录制持续30s录制: rosbag record --duration=30 /chatter

play

rosbag play 0027.bag --pause -r 0.8 --clock --topic /velodyne_points /imu/data -s 10 -u 5 -l

• --pause : 文件读取完成后不播放，按空格键开始播放
• -r 0.8 : in specified speed;
• --clock : use timestamp in bag file;
• --topic : /velodyne_points /imu/data, play these two topics;
• -s 10 : from the first message that after this time interval from the beginning
• -u 5 : 表示仅播放包的5秒
• -l : 循环播放

把包中的话题original_topic映射为/points_raw。

rosbag play bagName.bag /original_topic:=/points_raw

filter

# 截取一段时间
rosbag filter input.bag output.bag "t.to_sec() <= 1284703931 and t.to_sec()>=1284703935"
# or
rosbag filter input.bag output.bag "t.secs <= 1284703931"

# remain specific topic(s)
rosbag filter input.bag output.bag "topic == '/tf'"

# 只保留`/velodyne_point_cloud`和`/visensor/imu`,使用or和==
rosbag filter input.bag output.bag "topic == '/velodyne_point_cloud' or topic =='/visensor/imu'"

# filter out topic(s)`/velodyne_point_cloud`和`/visensor/imu`，使用and和!=
rosbag filter input.bag output.bag "topic != '/velodyne_point_cloud' and topic !='/visensor/imu'"

extract images

将图片从bag文件中提取出来并放在该命令所在目录

rosrun image_view extract_images _sec_per_frame:=0.01 image:=/camera
rosbag  play 20250613_084432.bag

extract cloud

解析bag文件得到带时间戳的pcd点云数据文件

# rosrun pcl_ros bag_to_pcd <*.bag> <topic> <output_directory>
rosrun pcl_ros bag_to_pcd 20250613_084432.bag /cloud .

bag info

# all info
rosbag info 20250613_084432.bag

# frequency of topic
rosbag info 20250613_084432.bag --freq

# uotput in yaml format
rosbag info 20250613_084432.bag -y
rosbag info 20250613_084432.bag --yaml

compression

# default compression mode is bz2
rosbag compress test.bag

rosbag compress --bz2 test.bag
rosbag compress --lz4 test.bag

ros information

query ros topics

topic_name[0]="/image"
topic_name[1]="/lidar"
topic_name[2]="/rtk"

for topic in ${topic_name[@]};
do
  echo $topic
  timeout 3 rostopic hz $topic
  echo "----------------------"
done