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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>

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>