经常存在这种情况, 我们需要在移动设备上录制一些包含图像信息的rosbag, 但是如果录制raw格式的话,占的内存空间太大, 一般可以采用录制compressed模式; 但是一般的代码中,图像从sensor_msgs转换到cv::Mat都是通过原图像,即raw类型的topic, 这时可以我们自己手动添加函数, 即可以订阅compressed topic的类型; 或者如果该代码实在麻烦,也可以之间将录制好的comppressed包转换成raw格式;
haha@haha:/opt/ros/kinetic/lib/image_transport$ rosrun image_transport list_transports
[rosrun] Couldn't find executable named list_transports below /opt/ros/kinetic/share/image_transport
查找发现/opt/ros/kinetic/lib/image_transport 里面有对应的list_transports的可执行文件,但是在share下没有,将lib下对应的可执行文件list_transport和republish拷贝进去。
然后即可执行rosrun image_transport list_transports;返回了对应的list:
image_transport/compressed
image_transport/compressedDepth
image_transport/h264
image_transport/raw
image_transport/theora
但是执行:
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
还是没有反应,不会提示出错,也不会终止程序
这是可以尝试播放包,比如我的:
rosbag play 2020-05-27-09-28-53.bag
这个包的信息如下:
types: sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
topics: /usb_cam150/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage
/usb_cam180/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage
但是如果同时运行播包和republish就可以看到两个多出来几个个topic如下:
/clock
/image_republisher_1597290710044689526/compressed/parameter_descriptions
/image_republisher_1597290710044689526/compressed/parameter_updates
/image_republisher_1597290789065015274/compressed/parameter_descriptions
/image_republisher_1597290789065015274/compressed/parameter_updates
/rosout
/rosout_agg
/usb_cam150/image_raw
/usb_cam150/image_raw/compressed
/usb_cam180/image_raw
/usb_cam180/image_raw/compressed
其中/usb_cam150/image_raw 和/usb_cam180/image_raw 是我们需要的;
总结来讲,我们的目的是将包含压缩图像的bag转换成包含raw图像的bag,所需要的指令如下:
先运行:
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
rosrun image_transport republish compressed in:=/usb_cam180/image_raw raw out:=/usb_cam180/image_raw
再运行:
rosbag record -o raw.bag /usb_cam150/image_raw /usb_cam180/image_raw
最后播包:
rosbag play 2020-05-27-09-28-53.bag