数据采集后的ros2bag播放和如何查看rviz2，及如何查看是否丢帧

1、在采集的数据包路径下打开终端，输入：

ros2 bag play rosbag2_**（数据包名字）-l

播放数据包。

2、如何查看rviz2，再起一个终端输入：

rviz2

打开rviz2，查看相机时，更改相机端Fixed Frame（后面统一名字），然后，点击左下角add，bytopic,添加相机，播放画面

查看雷达时，更改雷达端Fixed Frame（后面统一名字为：laser_link），然后，点击左下角add，bytopic,添加点云，播放点云，返回选择style， 选择point放大画面；如果想再添加雷达继续add即可。

3.1、方法一：在采集数据包路径下打开终端，输入：

ros2 bag info rosbag2_**(数据包名字)

结果： 每一个topic数据量与录包时间相➗，得到与默认设置的hz相差多少来判断是否丢帧

Files:             rosbag2_2023_11_22-05_33_47_0.db3
Bag size:          17.4 GiB
Storage id:        sqlite3
Duration:          124.93s
Start:             Nov 22 2023 05:33:49.805 (1700602429.805)
End:               Nov 22 2023 05:35:53.899 (1700602553.899)
Messages:          15112
Topic information: Topic: /lslidar/main | Type: sensor_msgs/msg/PointCloud2 | Count: 1236 | Serialization Format: cdr
                   Topic: /lslidar/right_up | Type: sensor_msgs/msg/PointCloud2 | Count: 1239 | Serialization Format: cdr
                   Topic: /lslidar/right_down | Type: sensor_msgs/msg/PointCloud2 | Count: 1239 | Serialization Format: cdr
                   Topic: /lslidar/left_down | Type: sensor_msgs/msg/PointCloud2 | Count: 1240 | Serialization Format: cdr
                   Topic: /lslidar/back | Type: sensor_msgs/msg/PointCloud2 | Count: 1240 | Serialization Format: cdr
                   Topic: /lslidar/left_up | Type: sensor_msgs/msg/PointCloud2 | Count: 1239 | Serialization Format: cdr
                   Topic: /camera/cam8/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 2559 | Serialization Format: cdr
                   Topic: /camera/cam9/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 2559 | Serialization Format: cdr
                   Topic: /camera/cam10/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 2561 | Serialization Format: cdr

 3.2、方法二：先进行播包（具体详见1），再起一个终端，先查看需要看哪个雷达或相机的平均帧率：

ros2 topic list

结果： 

xl@hxl:/media/hxl/My Passport/t23bag_0405/102$ ros2 topic list 
/camera/cam10/compressed
/camera/cam8/compressed
/camera/cam9/compressed
/lslidar/back
/lslidar/left_down
/lslidar/left_up
/lslidar/main
/lslidar/right_down
/lslidar/right_up
/parameter_events
/rosout

ros2 topic hz **(topic名)

 

现在查看左上激光雷达帧率是否掉帧：

xl@hxl:/media/hxl/My Passport/t23bag_0405/102$ ros2 topic hz /lslidar/left_up
average rate: 9.386
	min: 0.057s max: 0.171s std dev: 0.03378s window: 11
average rate: 9.615
	min: 0.057s max: 0.171s std dev: 0.02601s window: 21
average rate: 9.066
	min: 0.056s max: 0.198s std dev: 0.03545s window: 29
average rate: 8.353
	min: 0.056s max: 0.247s std dev: 0.04991s window: 36
average rate: 8.171
	min: 0.056s max: 0.247s std dev: 0.04700s window: 44
average rate: 7.954
	min: 0.056s max: 0.247s std dev: 0.04746s window: 52
average rate: 7.823

看出部分丢帧（32线激光雷达默认10hz） 

128线束激光雷达默认20 hz,32线束激光雷达默认10 hz，如果逐帧降低一半以下或一半是表示丢帧严重。