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1 | initial version |
There's a good tutorial on that here: BagRecordingPlayback. It also works with openni2, not only openni. For openni2, this script + launch file does the trick:
record-rosbag.sh:
#!/bin/sh
rosbag record \
/tf \
/camera/rgb/image_raw \
/camera/rgb/camera_info \
/camera/depth_registered/image_raw \
/camera/depth_registered/camera_info
depth+rgb_to_pointcloud.launch:
<launch>
<param name="use_sim_time" value="true" />
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="true" />
<arg name="load_driver" value="false" />
<arg name="publish_tf" value="false" />
</include>
<include file="$(find multisensor_tracking_ros)/launch/includes/multisensor_tracking_node.xml" />
</launch>
2 | No.2 Revision |
There's a good tutorial on that here: BagRecordingPlayback. It also works with openni2, not only openni. For openni2, this script + launch file does the trick:
record-rosbag.sh:
#!/bin/sh
rosbag record \
/tf \
/camera/rgb/image_raw \
/camera/rgb/camera_info \
/camera/depth_registered/image_raw \
/camera/depth_registered/camera_info
depth+rgb_to_pointcloud.launch:
<launch>
<param name="use_sim_time" value="true" />
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="true" />
<arg name="load_driver" value="false" />
<arg name="publish_tf" value="false" />
</include>
<include file="$(find multisensor_tracking_ros)/launch/includes/multisensor_tracking_node.xml" />
</launch>