https://blog.csdn.net/wsc820508/article/category/7830012

https://blog.csdn.net/wsc820508/article/details/81533048 https://blog.csdn.net/wsc820508/article/details/81505121

https://blog.csdn.net/weixin_36976685/article/details/83476178

https://www.ncnynl.com/archives/201707/1788.html

https://blog.csdn.net/afeik/article/details/81388607

3.1 记录数据

启动上一步中相关环境后，执行以下命令记录scan 、tf 、tf_static话题上发布的所有消息：

rosbag record -o data.bag /tf /scan /tf_static

比如：

rosbag record -a 记录所有话题

rosbag record -o foo scan tf 文件名前加上foo前缀

rosbag record -O foo.bag scan tf 指定文件名

3.2 回放数据

使用 rosbag play 播放之前记录的包，--clock 标志表示需要rosbag发布时间信息

rosbag play --clock data_2018-08-10-18-27-20.bag

使用 rosbag info foo.bag 显示包文件信息。

3. 3 利用回放数据建图

   rosparam set use_sim_time true

   rosrun gmapping slam_gmapping #查看 tf tree rosrun tf view_frames evince frames.pdf

wsc@wsc-pc:~$ rosconsole rosconsole is a command-line tool for configuring the logger level of ROS nodes.

Commands: rosconsole get display level for a logger rosconsole list list loggers for a node rosconsole set set level for a logger rosconsole echo print logger messages

wsc@wsc-pc:~$ rosconsole list slam_gmapping ros ros.gmapping.message_filter ros.roscpp ros.roscpp.cached_parameters ros.roscpp.roscpp_internal ros.roscpp.roscpp_internal.connections ros.roscpp.superdebug

rosconsole set slam_gmapping ros.gmapping.message_filter DEBUG

Node [/robot_state_publisher] Publications:

• /rosout [rosgraph_msgs/Log]
• /tf [tf2_msgs/TFMessage]
• /tf_static [tf2_msgs/TFMessage]

Subscriptions:

• /clock [rosgraph_msgs/Clock]
• /joint_states [sensor_msgs/JointState]

Services:

• /robot_state_publisher/get_loggers
• /robot_state_publisher/set_logger_level

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作者：天涯0508 来源：CSDN 原文：https://blog.csdn.net/wsc820508/article/details/81556620 版权声明：本文为博主原创文章，转载请附上博文链接！