系列文章目录

• walking机器人仿真教程-启动仿真环境
• walking机器人仿真教程-查看仿真环境相关话题
• walking机器人仿真教程-仿真控制
• walking机器人仿真教程-激光建图-仿真slam_toolbox算法建图
• walking机器人仿真教程-激光建图-仿真gmapping算法建图
• walking机器人仿真教程-激光建图-仿真cartographer算法建图
• walking机器人仿真教程-使用统一建图入口
• walking机器人仿真教程-激光导航-仿真单点导航
• walking机器人仿真教程-激光导航-仿真多点导航
• walking机器人仿真教程-激光导航-仿真融合建图和导航
• walking机器人仿真教程-仿真行为树航点导航
• walking机器人仿真教程-仿真行为树中止回航
• walking机器人仿真教程-仿真行为树拍照
• walking机器人仿真教程-仿真行为树目标识别
• walking机器人仿真教程-设置行为树目标点
• walking机器人仿真教程-激光跟随
• walking机器人仿真教程-激光导航-TEB算法导航
• walking机器人仿真教程-应用-循线
• walking机器人仿真教程-应用-障碍检测
• walking机器人仿真教程-应用-控制走圆形
• walking机器人仿真教程-加载不同的gazebo世界
• walking机器人仿真教程-应用-发送路径进行导航实现田地作物检查
• walking机器人仿真教程-应用-单点导航实现小镇送货
• walking机器人仿真教程-应用-多点导航实现咖啡店内配送
• walking机器人仿真教程-应用-多点导航实现办公室内取件和配送
• walking机器人仿真教程-应用-利用Regulated Pure Pursuit插件实现导航
• walking机器人仿真教程-应用-单点目标点实现对象跟随
• walking机器人仿真教程-应用-设置限速区实现仓库里指定区域速度限制
• walking机器人仿真教程-应用-多点导航实现房间内巡逻检查
• walking机器人仿真教程-应用-设置禁区实现仓库内特别区域禁行
• walking机器人仿真教程-应用-指定车道导航
• walking机器人仿真教程-rosbag录制和播放
• walking机器人仿真教程-应用-使用直线路径规划器插件实现导航
• walking机器人仿真教程-应用-实时加载地图实现多楼层导航
• walking机器人仿真教程-应用-低电量自动导航到充电位置
• walking机器人仿真教程-应用-低电量实现自主对接充电
• walking机器人仿真教程-应用-使用ARTag固定位置实现自主对接
• walking机器人仿真教程-应用-自动查找ArUco Marker位置进行自主对接

说明:

• 介绍rosbag包的录制和回放
• 参考教程: ROS2入门教程-rosbag简介

相关设备：

• walking机器人套件：采购地址

步骤:

• 新建包保存目录

mkdir ~/bag_files

• 新终端, 启动仿真

ros2 launch walking_gazebo world.launch.py 

• 新终端, 查看话题

$ ros2 topic list
/active
/clock
/cmd_vel
/cmd_vel_mux/input/default
/cmd_vel_mux/input/joystick
/cmd_vel_mux/input/keyop
/cmd_vel_mux/input/navigation
/cmd_vel_mux/input/remote
/cmd_vel_mux/input/webapp
/depth_camera/camera_info
/depth_camera/depth/camera_info
/depth_camera/depth/image_raw
/depth_camera/depth/image_raw/compressed
/depth_camera/depth/image_raw/compressedDepth
/depth_camera/depth/image_raw/theora
/depth_camera/image_raw
/depth_camera/image_raw/compressed
/depth_camera/image_raw/compressedDepth
/depth_camera/image_raw/theora
/depth_camera/points
/imu
/joint_states
/odom
/parameter_events
/performance_metrics
/rgb_camera/camera_info
/rgb_camera/image_raw
/rgb_camera/image_raw/compressed
/rgb_camera/image_raw/compressedDepth
/rgb_camera/image_raw/theora
/robot_description
/rosout
/scan
/tf
/tf_static

• 录制全部包

cd ~/bag_files
ros2 bag record -a

• 录制指定包

$ cd ~/bag_files
$ ros2 bag record /odom
[INFO] [1649295753.205135530] [rosbag2_storage]: Opened database 'rosbag2_2022_04_07-09_42_33/rosbag2_2022_04_07-09_42_33_0.db3' for READ_WRITE.
[INFO] [1649295753.205372136] [rosbag2_recorder]: Listening for topics...
[INFO] [1649295753.211060000] [rosbag2_recorder]: Subscribed to topic '/odom'
[INFO] [1649295753.211652769] [rosbag2_recorder]: All requested topics are subscribed. Stopping discovery...

• 按ctrl + C 中止
• 会自动建立一个类似rosbag2_2022_04_07-09_42_33目录,并包含metadata.yaml和rosbag2_2022_04_07-09_42_33_0.db3
• 录制指定包,并制定保存目录名

$ cd ~/bag_files
$ ros2 bag record -o subset /odom /imu
[INFO] [1649293844.111371681] [rosbag2_storage]: Opened database 'subset/subset_0.db3' for READ_WRITE.
[INFO] [1649293844.111521646] [rosbag2_recorder]: Listening for topics...
[INFO] [1649293844.117199109] [rosbag2_recorder]: Subscribed to topic '/odom'
[INFO] [1649293844.121867832] [rosbag2_recorder]: Subscribed to topic '/imu'
[INFO] [1649293844.122657320] [rosbag2_recorder]: All requested topics are subscribed. Stopping discovery...
^C[INFO] [1649294458.114834481] [rclcpp]: signal_handler(signal_value=2)
[INFO] [1649294458.118055898] [rosbag2_cpp]: Writing remaining messages from cache to the bag. It may take a while

• 会自动建立一个类似subset目录,并包含metadata.yaml subset_0.db3
• 查看rosbag信息

$ ros2 bag info subset 
 
Files:             subset_0.db3
Bag size:          35.1 MiB
Storage id:        sqlite3
Duration:          613.990s
Start:             Apr  7 2022 09:10:44.122 (1649293844.122)
End:               Apr  7 2022 09:20:58.113 (1649294458.113)
Messages:          75864
Topic information: Topic: /imu | Type: sensor_msgs/msg/Imu | Count: 58622 | Serialization Format: cdr
                   Topic: /odom | Type: nav_msgs/msg/Odometry | Count: 17242 | Serialization Format: cdr

• 回放rosbag包

$ ros2 bag play subset
[INFO] [1649295908.026950105] [rosbag2_storage]: Opened database 'subset/subset_0.db3' for READ_ONLY.
[INFO] [1649295908.036916415] [rosbag2_storage]: Opened database 'subset/subset_0.db3' for READ_ONLY.

• 查看话题

$ ros2 topic list
/imu
/odom
/parameter_events
/rosout