generate rosbag files:
http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data
Husky:
http://wiki.ros.org/Robots/Husky
cd catkin_ws/src
git clone https://github.com/husky/husky.git
start simulation:
cd catkin_ws
catkin_make
source devel/setup.bash
launch only the robot in an empty gazebo world
roslaunch husky_gazebo husky_empty_world.launch
launch robot in environment clearpath_playpen:
roslaunch husky_gazebo husky_playpen.launch
open a second terminal and run the following commands:
cd catkin_ws/src
mkdir bagfiles
cd catkin_ws/src/bagfiles
rosbag record -a
- recording data (creating a bag file):
Terminal1:
roscore
Terminal2:
rosrun turtlesim turtlesim_node
Terminal3:
rosrun turtlesim turtle_teleop_key
Terminal4:
cd catkin_ws/src
mkdir bagfiles
cd catkin_ws/src/bagfiles
rosbag record -a
optional:
Terminal5:
rostopic list -v
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [rosgraph_msgs/Log] 2 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 subscriber
* /rosout [rosgraph_msgs/Log] 1 subscriber
- Recording a subset of the data
rosbag record -O subset /turtle1/cmd_vel /turtle1/pose
path: subset.bag
version: 2.0
duration: 12.6s
start: Dec 10 2014 20:20:49.45 (1418271649.45)
end: Dec 10 2014 20:21:02.07 (1418271662.07)
size: 68.3 KB
messages: 813
compression: none [1/1 chunks]
types: geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
turtlesim/Pose [863b248d5016ca62ea2e895ae5265cf9]
topics: /turtle1/cmd_vel 23 msgs : geometry_msgs/Twist
/turtle1/pose 790 msgs : turtlesim/Pose
- Examining and playing the bag file
rosbag info <your bagfile>
rosbag play <your bagfile>
subset of data:
rosbag info <your subset.bag>
rosbag play <your subset.bag>