ROS2 Bag Recording Resulting in Large File Size

edit

Hello

I have been using ROS2 for recording data using the "ros2 bag record" command, specifically targeting the "sensor_msgs/msg/PointCloud2" message type. However, I have noticed that the resulting bag file size is disproportionately large. For instance, when recording for just 10 minutes, the file size reaches approximately 60GB.

• I would like to understand the reasons behind this unexpectedly large file size
• Additionally, I would appreciate it if you could provide me with any relevant documentation or resources that explain the underlying factors affecting the bag file size when recording messages of this type. This would help me gain a better understanding of the issue and find possible solutions.

Environment:

ROS 2 version: Humble

Operating System: Ubuntu 22.04.2 LTS

Thank you for your time and assistance.