I ran into similar issues when trying to record Kinect data. I'm not sure what's causing it - I assumed that the data was just too much. 10 seconds of data ended up in the gigabyte range if I recall correctly.
I ended up switching to the openni_camera_unstable driver, which is nodelet based. You can record the data at the image level, before it gets expanded to a 3D PointCloud beast.
The launch files (when I last looked) were a little confusing. I created a working set of record / playback launch files for that driver, which I can share if there's interest.
EDIT:
Here are some launch files for the unstable driver. They are mostly based on the existing launch files, but I've broken them up to allow modular recording:
http://robotics.ccny.cuny.edu/data/kinect/launch_modular/
You need to place the launch_modular
folder in the openni_camera_unstable
package.
There are 3 top-level files you can use directly:
openni_live.launch
: launches the driver, publishing live data openni_record.launch
: launches the driver, publishing live data, and recording part of the data openni_play.launch
: launches rosbag, processes the data and publishes it.
openni_record assumes you have ~/ros/bags
directory already created. Bags are placed there. To play the correct bag, you need to edit the include/openni_play_bag.launch
file:
<arg name="BAG_NAME" value="kinect.bag"/>
with the name of the bag you want, assuming it's in the ~ros/bags
directory.
https://answers.ros.org/question/9861...