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"rosbag record" vs "rosbag::Bag"

asked 2012-05-24 04:21:41 -0500

Seigo gravatar image

updated 2012-05-25 08:58:09 -0500

Kevin gravatar image


When I usually log kinect and other large data, I use "rosbag::Bag" insted of "rosbag record" command. Because a bag made by "rosbag record" has some timestamp delay and gap. On the other hand, a bag made by "rosbag::Bag" is well-timestamped (even where it log kinect data).

rosbag::Bag bag;
string filename = ros::package::getPath("xxx_bags");
filename.append("/bag/kinect.bag");, rosbag::bagmode::Write);

However, it's a little pain to write all nodes. Does someone have any other good tips?

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answered 2012-05-24 04:29:33 -0500

AHornung gravatar image

rosbag record immediately records the data just as it comes off the network, including the time delay which may have happened. Thus it is the most efficient way to immediately record the data.

To synchronize the bag file later on with the time stamps stored in the messages, you can just post-process it with in the fr_tools package. This makes the tf display from a bagfile in RViz also a bit less jerky.

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Thanks! That's what I am looking for.

Seigo gravatar image Seigo  ( 2012-05-24 05:47:24 -0500 )edit

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Asked: 2012-05-24 04:21:41 -0500

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Last updated: May 24 '12