Optimal record settings for large rosbags with camera inputs

asked 2019-02-28 06:33:14 -0500

mcamurri gravatar image

Hi all, I was wondering what are the best settings to record a rosbag with the dense data at low frequency (e.g. camera images from a RealSense camera at 20-30 Hz ) plus smaller data at high frequency (e.g. IMU messages at 400 Hz) for 30-60 min rosbags.

To reduce the size to a reasonable amount (~20-50 GB), I compress the images with PNG image transport (cannot use lossy compression because I need to process the original images afterwards). However, I notice message drops because the disk can't keep up in writing (it's an SSD).

Would rosbag record with compression option be better than compressing the images alone? I guess compressing both wouldn't add any benefit because the algorithm is very similar.

Would increasing the chunk file have a benefit on the writing on the disk?

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this has some useful information. check the provided launch file. it is really useful

darshb34 gravatar image darshb34  ( 2020-05-13 22:34:24 -0500 )edit