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The best way in general is to record the following:

1. /tf
2. /camera/rgb/image_mono OR /camera/rgb/image_color if you want color
3. /camera/rgb/camera_info
4. /camera/depth/image
5. /camera/depth/camera_info

/tf is not strictly required but helpful depending on the use case. The rosbag command is then:

rosbag record -O filename-prefix /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth/image /camera/depth/camera_info

Have a look at the file launch/rgbdslam.launch. Use it as is, except if you want to omit color, change the first topic to /camera/rgb/image_mono

Play the bagfile:

rosbag play filename-prefix-some-date-string.bag

Have a look at the options (rosbag help play). Reducing the playback rate might help unless you have a really fast computer.

Alternatively, you can set the bagfile_name parameter (see the example config launchfile to your bagfile. Use an absolute path.

The best way in general is to record the following:

1. /tf
2. /camera/rgb/image_mono OR /camera/rgb/image_color if you want color
3. /camera/rgb/camera_info
4. /camera/depth/image
5. /camera/depth/camera_info

/tf is not strictly required but helpful depending on the use case. The rosbag command is then:

rosbag record -O filename-prefix /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth/image /camera/depth/camera_info

I still use the openni_camera package to get the data, that would be:

roslaunch openni_camera openni_node.launch

Have a look at the file launch/rgbdslam.launch. Use it as is, except if you want to omit color, If necessary adapt to your choice of grayscale image: change the first topic parameter to /camera/rgb/image_mono

Play the bagfile:bagfile (but stop the openni_node first):

rosbag play filename-prefix-some-date-string.bag

Have a look at the options (rosbag help play). Reducing the playback rate might help unless you have a really fast computer.

Alternatively, you can set the bagfile_name parameter (see the example config launchfile to your bagfile. Use an absolute path.

roslaunch rgbdslam rgbdslam.launch