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 | 1 | initial version |
We find recording various topics to multiple bags very useful and convenient.
They are written with different prefixes and identical time stamps, making it easy to copy or play back all or some. Big data collections from devices like cameras and Velodyne can be skipped, except when needed. Rviz markers are separate. All the basic topics are collected in other_*.
joq@vision-4:bags$ ls -lh
total 848M
-rw-r--r-- 1 joq joq 178M 2012-02-16 11:24 camera_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 167M 2012-02-16 11:25 camera_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 102M 2012-02-16 11:25 camera_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 8.7M 2012-02-16 11:25 other_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 8.3M 2012-02-16 11:25 other_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 8.0M 2012-02-16 11:25 other_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 13M 2012-02-16 11:25 rviz_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 145M 2012-02-16 11:25 velodyne_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 103M 2012-02-16 11:25 velodyne_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 94M 2012-02-16 11:25 velodyne_2012-02-15-15-09-19.bag
| | 2 | add comment about /tf |
We find recording various topics to multiple bags very useful and convenient.
They are written with different prefixes and identical time stamps, making it easy to copy or play back all or some. Big data collections from devices like cameras and Velodyne can be skipped, except when needed. Rviz markers are separate. All the basic topics are collected in other_*.
joq@vision-4:bags$ ls -lh
total 848M
-rw-r--r-- 1 joq joq 178M 2012-02-16 11:24 camera_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 167M 2012-02-16 11:25 camera_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 102M 2012-02-16 11:25 camera_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 8.7M 2012-02-16 11:25 other_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 8.3M 2012-02-16 11:25 other_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 8.0M 2012-02-16 11:25 other_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 13M 2012-02-16 11:25 rviz_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 145M 2012-02-16 11:25 velodyne_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 103M 2012-02-16 11:25 velodyne_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 94M 2012-02-16 11:25 velodyne_2012-02-15-15-09-19.bag
We always record the /tf topic (in other_*).
Unfortunately, there is no distinction between static and dynamic transforms. You generally need odometry transforms, etc., and the static transforms will be mixed in. But, that can be an advantage too, if they occasionally get modified (ours do).
| | 3 | camera_info comment |
We find recording various topics to multiple bags very useful and convenient.
They are written with different prefixes and identical time stamps, making it easy to copy or play back all or some. Big data collections from devices like cameras and Velodyne can be skipped, except when needed. Rviz markers are separate. All the basic topics are collected in other_*.
joq@vision-4:bags$ ls -lh
total 848M
-rw-r--r-- 1 joq joq 178M 2012-02-16 11:24 camera_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 167M 2012-02-16 11:25 camera_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 102M 2012-02-16 11:25 camera_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 8.7M 2012-02-16 11:25 other_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 8.3M 2012-02-16 11:25 other_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 8.0M 2012-02-16 11:25 other_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 13M 2012-02-16 11:25 rviz_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 12M 2012-02-16 11:25 rviz_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 4.1K 2012-02-16 11:25 sicks_2012-02-15-15-09-19.bag
-rw-r--r-- 1 joq joq 145M 2012-02-16 11:25 velodyne_2012-02-15-15-06-05.bag
-rw-r--r-- 1 joq joq 103M 2012-02-16 11:25 velodyne_2012-02-15-15-07-20.bag
-rw-r--r-- 1 joq joq 94M 2012-02-16 11:25 velodyne_2012-02-15-15-09-19.bag
We always record the /tf topic (in other_*).
Unfortunately, there is no distinction between static and dynamic transforms. You generally need odometry transforms, etc., and the static transforms will be mixed in. But, that can be an advantage too, if they occasionally get modified (ours do).
We find it worthwhile to record the camera_info topics. They do not take up much space, and are needed for viewing with rviz. If a camera gets moved around, the calibration data need to move with it.
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