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"rosbag play" pauses while it shouldn't

asked 2017-02-07 19:04:53 -0600

130s gravatar image

updated 2017-02-07 19:17:24 -0600

Are these expected behavior of rosbag?


$ wget
$ rosbag info clock_alive.bag 
path:         clock_alive.bag
version:      2.0
duration:     40.0s
start:        Jun 03 2015 05:27:52.30 (1433334472.30)
end:          Jun 03 2015 05:28:32.29 (1433334512.29)
size:         14.5 MB
messages:     40000
compression:  bz2 [40000/40000 chunks; 0.01%]
uncompressed: 55.9 GB @   1.4 GB/s
compressed:    5.7 MB @ 145.5 KB/s (0.01%)
types:        std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]
topics:       /blabla   40000 msgs    : std_msgs/String
$ rosbag play -l --clock clock_alive.bag 
[RUNNING]  Bag Time: 1433334474.755216   Duration: 2.453124 / 39.990000

The time elapses as expected. Then on another terminal,

$ rostopic hz /blabla 
subscribed to [/blabla]
WARNING: may be using simulated time
average rate: 0.000
        min: 0.000s max: 0.000s std dev: 0.00000s window: 59
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages

Issues are 1) the topic /blabla is being published throughout the entire bag file as you see the screenshot from rqt_bag below, but rostopic is capturing only occasionally as above, 2) Bag time pauses elapsing. Once rostopic command gets terminated it resumes without jump (i.e. Bag time was paused).


Then setting false to /use_sim_time,

term-1$ rosbag play clock_alive.bag 
term-2$ rostopic hz /blabla 
subscribed to [/blabla]
average rate: 804.263
        min: 0.001s max: 0.005s std dev: 0.00109s window: 12
average rate: 22.330
        min: 0.001s max: 1.040s std dev: 0.18831s window: 35
average rate: 26.260
        min: 0.001s max: 1.040s std dev: 0.15480s window: 59
average rate: 19.355
        min: 0.001s max: 1.040s std dev: 0.19223s window: 63
average rate: 24.224
        min: 0.001s max: 1.040s std dev: 0.16041s window: 106
average rate: 30.743
        min: 0.001s max: 1.040s std dev: 0.14531s window: 165

This time it looks much like as expected. But still "Bag time" pauses while rostopic runs.

Particularly in my case, I'm writing tests using .bag files so use_sim_time is really in need.

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 14.04.5 LTS
Release:        14.04
Codename:       trusty
$ more /proc/cpuinfo
processor       : 0
vendor_id       : GenuineIntel
cpu family      : 6
model           : 60
model name      : Intel(R) Core(TM) i7-4710MQ CPU @ 2.50GHz
stepping        : 3
microcode       : 0x17
cpu MHz         : 3356.250
cache size      : 6144 KB
physical id     : 0
siblings        : 8
core id         : 0
cpu cores       : 4
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1 Answer

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answered 2017-02-08 12:57:28 -0600

130s gravatar image

I found a ticket in ros_comm repo where the reported behavior from others look very similar. Might as well keep discussing there.

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Asked: 2017-02-07 19:04:53 -0600

Seen: 511 times

Last updated: Feb 08 '17