rosbag 相关命令

rosbag info

$ rosbag info -y 2017-11-11_test.bag
path: 2017-11-11_test.bag
version: 2.0
duration: 239.951406
start: 1510365391.126521
end: 1510365631.077927
size: 2090218773
messages: 50156
indexed: True
compression: none
types:
    - type: sensor_msgs/Image
      md5: 060021388200f6f0f447d0fcd9c64743
    - type: sensor_msgs/Imu
      md5: 6a62c6daae103f4ff57a132d6f95cec2
topics:
    - topic: /cam0/image_raw
      type: sensor_msgs/Image
      messages: 2248
    - topic: /imu0
      type: sensor_msgs/Imu
      messages: 47908

 

bag = rosbag.Bag(sys.argv[2], "w")

bag.write("/cam0/image_raw", img_msg, timestamp)

bag.write("/imu0", imu_msg, timestamp)

img_msg = bridge.cv2_to_imgmsg(img, "bgr8")

img_msg_seq += 1

img_msg.header.seq = img_msg_seq

img_msg.header.stamp = timestamp

imu_msg.header.stamp = timestamp

imu_msg_seq = imu_msg_seq + 1

imu_msg.header.seq = imu_msg_seq

 

imu_msg.angular_velocity.x = imu_array[3]

imu_msg.angular_velocity.y = imu_array[4]

imu_msg.angular_velocity.z = imu_array[5]

imu_msg.linear_acceleration.x = imu_array[0]

imu_msg.linear_acceleration.y = imu_array[1]

imu_msg.linear_acceleration.z = imu_array[2]

imu_msg.linear_acceleration_covariance[0] = -1

imu_msg.angular_velocity_covariance[0] = -1