ROS research continues, today's content is played back rosbag package.
1: Recording rosbag
1 cd catkin_ws into the working space # 2 mkdir bagfile / # Create a folder bagfile 3 sudo chmod -R 777 ~ / catkin_ws / bagfile / modify folder permissions # 4 cd bagfile / # folder into the bagfile 5 rosbag the Record record release -a # the topics
2: Start topic node, the news release continues to spend a written, there are ambiguities can point here to see the message publisher and subscriber
1 cd ~ / catkin_ws into the working space # 2 rosrun pub_sub_test pub_string # topic to start publishing
3: Playback rosbag
1 rosbag info 2019-08-23-02-18-48.bag # View playback information
path: 2019-08-23-02-18-48.bag version: 2.0 duration: 21.4s start: Aug 23 2019 02:18:48.00 (1566551929.00) end: Aug 23 2019 02:19:10.41 (1566551950.41) size: 113.9 KB messages: 639 compression: none [1/1 chunks] types: rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1] topics: /chatter 212 msgs : std_msgs/String / rosout 215 msgs: rosgraph_msgs / Log (2 connections) / 212 rosout_agg msgs: rosgraph_msgs / Log
1 rosbag Play 2019-08-23-02-18-48.bag # topics Playback
Even more than the completion of the easiest recording and playback functions, and other complex scenarios only after free and then slowly toss ......