1.rosbag record命令
rosbag record命令是用于在ros系统中录取系统中其他ros节点发出来的topic的message。录取的的包可以使用rosbag play命令来回放，订阅这些消息的node节点就可以收到这些消息，进而执行对应的程序。这样的话，就可以将自动驾驶汽车或者无人机、机器人等自动化机器在室外一些环境下遇到的问题，通过录包的方法拿到办公室来仔细研究解决。
rosbag record命令在终端下显示完整命令参数如下：
kitty@kitty-TM1705:~$ rosbag record -help
Usage: rosbag record TOPIC1 [TOPIC2 TOPIC3 ...]
Record a bag file with the contents of specified topics.
Options:
-h, --help show this help message and exit
-a, --all record all topics
-e, --regex match topics using regular expressions
-x EXCLUDE_REGEX, --exclude=EXCLUDE_REGEX
exclude topics matching the follow regular expression
(subtracts from -a or regex)
-q, --quiet suppress console output
-o PREFIX, --output-prefix=PREFIX
prepend PREFIX to beginning of bag name (name will
always end with date stamp)
-O NAME, --output-name=NAME
record to bag with name NAME.bag
--split split the bag when maximum size or duration is reached
--max-splits=MAX_SPLITS
Keep a maximum of N bag files, when reaching the
maximum erase the oldest one to keep a constant number
of files.
--size=SIZE record a bag of maximum size SIZE MB. (Default:
infinite)
--duration=DURATION record a bag of maximum duration DURATION in seconds,
unless 'm', or 'h' is appended.
-b SIZE, --buffsize=SIZE
use an internal buffer of SIZE MB (Default: 256, 0 =
infinite)
--chunksize=SIZE Advanced. Record to chunks of SIZE KB (Default: 768)
-l NUM, --limit=NUM only record NUM messages on each topic
--node=NODE record all topics subscribed to by a specific node
-j, --bz2 use BZ2 compression
--lz4 use LZ4 compression
--tcpnodelay Use the TCP_NODELAY transport hint when subscribing to
topics.
--udp Use the UDP transport hint when subscribing to topics.rosbag record TOPIC1 [TOPIC2 TOPIC3 ...] 这是最简单的使用方法是。比如录取message_1的命令：rosbag record message_1；
通常的使用都是根据需求和可选的参数配合使用的，比如要录所有的topic，使用rosbag record -a命令。
2.录取过滤掉某个topic的其他topic
写个脚本来录取过滤掉某个topic之外的其他topic，并对录取的包名进行设置。
脚本recordbag.sh内容如下：
#！/bin/bash
rosbag record -a -O $1 -x "/monitor/(.*)"执行该脚本：./recordbag.sh demo.bag 该脚本用于记录过滤掉/monitor/*之外的其他topic，并将记录的bag文件命名为demo.bag。
3.查看录包信息
kitty@kitty-TM1705:~/data/planing$ rosbag info trace9.bag
path: trace9.bag
version: 2.0
duration: 59.1s
start: Jan 30 2019 17:45:47.95 (1548841547.95)
end: Jan 30 2019 17:46:47.05 (1548841607.05)
size: 134.3 MB
messages: 151969
compression: none [163/163 chunks]
types: dw_msg_center/ACU_IDS_MSG200 [6fca19ff04082b9b91134bf3c809b87d]
dw_msg_center/ACU_IDS_MSG201 [f8c45d9c251631b5629150dc575a3faf]
dw_msg_center/ACU_IDS_MSG202 [dada98444e4f6c228ef5f75bd811681d]
dw_msg_center/ACU_IDS_MSG203 [84bb83386abd723dabf6df98f30e77f3]
dw_msg_center/ACU_IDS_MSG204 [b0c14ebf8df5b3709a401af8572cde17]
dw_msg_center/ACU_IDS_MSG205 [17726d19199f3bf4527372d0e750c771]
dw_msg_center/ACU_IDS_MSG206 [093c5d6cda2583b7e8c90d1d76a7c022]
dw_msg_center/ACU_IDS_MSG207 [c7d2ee979f0f53a4fc9f58047de0fd1a]
dw_msg_center/ACU_IDS_MSGPKG [56d0b3757a7249d85db835f851c15cab]
dw_msg_center/Controller_LatticeMonitor [864285cebdf9b6d1d6d747e27ce03c7e]
dw_msg_center/IDS_ACU_MSG100 [9092cd5255e954dbdef885474019b322]
dw_msg_center/IDS_ACU_MSG101 [aca127ea13744b15f310195f098ae113]
dw_msg_center/IDS_ACU_MSG102 [d1c71b254c504e45c5a44960619ddb85]
dw_msg_center/IDS_ACU_MSG103 [0e63d4137dc1af190a150fd97a3f6a13]
dw_msg_center/Imu_ImuInfo [8c2618ce9c8ebb8e6af8e0db1894586a]
dw_msg_center/Planner_LatticeMonitor [a79314be0a00cb53a169977db794efe3]
dw_msg_center/Radar_Center [42b3d4965d672f2edc5aadbca336ff0f]
dw_msg_center/Radar_Corner [0d4f524a91be8edf20ad79bcc296fa9a]
dw_msg_center/Radar_SensorTechCorner [83ae891674f92197b7f2cc0bc3a5bf15]
jsk_rviz_plugins/OverlayText [7efc1ed34881f913afcee6ba02aa1242]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
nav_msgs/Path [6227e2b7e9cce15051f669a5e197bbf7]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
std_msgs/Float32 [73fcbf46b49191e672908e50842a83d4]
std_msgs/Int16 [8524586e34fbd7cb1c08c5f5f1ca0e57]
std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
visualization_msgs/MarkerArray [d155b9ce5188fbaf89745847fd5882d7]
topics: /Monitor_Controller 165 msgs : dw_msg_center/Controller_LatticeMonitor
/acu_ids_msg200 5794 msgs : dw_msg_center/ACU_IDS_MSG200
/acu_ids_msg201 5794 msgs : dw_msg_center/ACU_IDS_MSG201
/acu_ids_msg202 5804 msgs : dw_msg_center/ACU_IDS_MSG202
/acu_ids_msg203 5794 msgs : dw_msg_center/ACU_IDS_MSG203
/acu_ids_msg204 5784 msgs : dw_msg_center/ACU_IDS_MSG204
/acu_ids_msg205 5784 msgs : dw_msg_center/ACU_IDS_MSG205
/acu_ids_msg206 5794 msgs : dw_msg_center/ACU_IDS_MSG206
/acu_ids_msg207 5793 msgs : dw_msg_center/ACU_IDS_MSG207
/acu_ids_msgpkg 5741 msgs : dw_msg_center/ACU_IDS_MSGPKG
/ids_acu_msg100 178 msgs : dw_msg_center/IDS_ACU_MSG100
/ids_acu_msg101 179 msgs : dw_msg_center/IDS_ACU_MSG101
/ids_acu_msg102 177 msgs : dw_msg_center/IDS_ACU_MSG102
/ids_acu_msg103 178 msgs : dw_msg_center/IDS_ACU_MSG103
/imu/imu_msg 1196 msgs : dw_msg_center/Imu_ImuInfo
/monitor/acc_ped_value 5784 msgs : std_msgs/Float32
/monitor/brk_ped_value 5805 msgs : std_msgs/Float32
/monitor/control_mode 5834 msgs : jsk_rviz_plugins/OverlayText
/monitor/control_mode_value 5741 msgs : std_msgs/String
/monitor/front_left_radar 5815 msgs : visualization_msgs/MarkerArray
/monitor/front_middle_radar 5835 msgs : visualization_msgs/MarkerArray
/monitor/front_right_radar 5772 msgs : visualization_msgs/MarkerArray
/monitor/global_plan 30 msgs : nav_msgs/Path
/monitor/gps_pose 1186 msgs : nav_msgs/Odometry
/monitor/gps_quality_indicator 1196 msgs : jsk_rviz_plugins/OverlayText
/monitor/gps_quality_value 1180 msgs : std_msgs/Int16
/monitor/local_plan 165 msgs : nav_msgs/Path
/monitor/rear_left_radar 5835 msgs : visualization_msgs/MarkerArray
/monitor/rear_right_radar 5751 msgs : visualization_msgs/MarkerArray
/monitor/speed_value 5741 msgs : std_msgs/Float32
/monitor/steering_value 5825 msgs : std_msgs/Float32
/monitor_lattice 165 msgs : dw_msg_center/Planner_LatticeMonitor
/radar/dw_radar_front_center 5835 msgs : dw_msg_center/Radar_Center
/radar/dw_radar_front_left 5825 msgs : dw_msg_center/Radar_SensorTechCorner
/radar/dw_radar_front_right 5751 msgs : dw_msg_center/Radar_SensorTechCorner
/radar/dw_radar_rear_left 5741 msgs : dw_msg_center/Radar_Corner
/radar/dw_radar_rear_right 5761 msgs : dw_msg_center/Radar_Corner
/rosout 24 msgs : rosgraph_msgs/Log (5 connections)
/rosout_agg 33 msgs : rosgraph_msgs/Log
/tf 1183 msgs : tf2_msgs/TFMessage
/tf_static 1 msg : tf2_msgs/TFMessage
