官网教程:http://wiki.ros.org/cn/ROS/Tutorials/Recording%20and%20playing%20back%20data
~$ roscore
~$ rosrun turtlesim turtlesim_node
~$ rosrun turtlesim turtle_teleop_key
~$ rostopic list -v Published topics: * /turtle1/color_sensor [turtlesim/Color] 1 publisher * /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher * /rosout [rosgraph_msgs/Log] 2 publishers * /rosout_agg [rosgraph_msgs/Log] 1 publisher * /turtle1/pose [turtlesim/Pose] 1 publisher Subscribed topics: * /turtle1/cmd_vel [geometry_msgs/Twist] 1 subscriber * /rosout [rosgraph_msgs/Log] 1 subscriber
~$ mkdir tempbagfiles
~$ cd tempbagfiles
~/tempbagfiles$ rosbag record -a
[ INFO] [1464622786.642608299]: Recording to 2016-05-30-23-39-46.bag. [ INFO] [1464622786.643371124]: Subscribing to /turtle1/color_sensor [ INFO] [1464622786.650218953]: Subscribing to /turtle1/cmd_vel [ INFO] [1464622786.657875320]: Subscribing to /rosout [ INFO] [1464622786.664989967]: Subscribing to /rosout_agg [ INFO] [1464622786.670321801]: Subscribing to /turtle1/pose
~/tempbagfiles$ rosbag info 2016-05-30-23-39-46.bag
path: 2016-05-30-23-39-46.bag version: 2.0 duration: 2:58s (178s) start: May 30 2016 23:39:46.68 (1464622786.68) end: May 30 2016 23:42:45.24 (1464622965.24) size: 1.5 MB messages: 22780 compression: none [2/2 chunks] types: geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a] rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] turtlesim/Color [353891e354491c51aabe32df673fb446] turtlesim/Pose [863b248d5016ca62ea2e895ae5265cf9] topics: /rosout 11 msgs : rosgraph_msgs/Log (2 connections) /rosout_agg 7 msgs : rosgraph_msgs/Log /turtle1/cmd_vel 589 msgs : geometry_msgs/Twist /turtle1/color_sensor 11087 msgs : turtlesim/Color /turtle1/pose 11086 msgs : turtlesim/Pose
~/tempbagfiles$ rosbag play 2016-05-30-23-39-46.bag
[ INFO] [1464623082.857050437]: Opening 2016-05-30-23-39-46.bag Waiting 0.2 seconds after advertising topics... done. Hit space to toggle paused, or 's' to step. [RUNNING] Bag Time: 1464622881.662740 Duration: 94.985623 / 178.560502
~/tempbagfiles$ rosbag play -r 20 2016-05-30-23-39-46.bag
[ INFO] [1464623266.773542306]: Opening 2016-05-30-23-39-46.bag Waiting 0.2 seconds after advertising topics... done. Hit space to toggle paused, or 's' to step. [RUNNING] Bag Time: 1464622965.207398 Duration: 178.530281 / 178.560502 Done.
~/tempbagfiles$ rosbag record -O subset /turtle1/command_velocity /turtle1/pose
[ INFO] [1464623367.500278060]: Subscribing to /turtle1/command_velocity [ INFO] [1464623367.505078209]: Subscribing to /turtle1/pose [ INFO] [1464623367.509689375]: Recording to subset.bag.
~/tempbagfiles$ rosbag info subset.bag
path: subset.bag version: 2.0 duration: 52.9s start: May 30 2016 23:49:27.71 (1464623367.71) end: May 30 2016 23:50:20.61 (1464623420.61) size: 255.9 KB messages: 3297 compression: none [1/1 chunks] types: turtlesim/Pose [863b248d5016ca62ea2e895ae5265cf9] topics: /turtle1/pose 3297 msgs : turtlesim/Pose
:~/tempbagfiles$ rosbag play -r 4 subset.bag
[ INFO] [1464623465.046134599]: Opening subset.bag Waiting 0.2 seconds after advertising topics... done. Hit space to toggle paused, or 's' to step. [RUNNING] Bag Time: 1464623420.578935 Duration: 52.866810 / 52.898519 Done.
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