offline / batch processing?

asked 2011-09-24 07:45:52 -0600

davidstolarsky
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Is it possible to run ROS in an offline mode in order to process every msg? For example, I just converted a .bag file with /camera/rgb/points to a sequence of .pcd files, but I had to run "rosbag play --pause <file>" and then step through each frame by pressing 's' in order to catch every message, and get all 238 frames, instead of the ~20 frames it could do in realtime. So is there a general purpose offline processing mode that could do this automatically?

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answered 2011-09-24 15:58:32 -0600

Mac

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

You can use the rosbag API to get messages one at a time; if your code only grabs a new message every time it finishes with the previous one, you can't miss a frame.

A quicker, dirtier solution is to use the -r flag to rosbag to slow down the playback rate to something your code can handle.

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The frame saver here is pcl_ros pointcloud_to_pcd; not sure if I can plug that in with your rosbag API suggestion. -r should do for now. offline_ros would be cool; step bag input frames and wait for everything to drain. I don't know how compatible this is with the ROS API.