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ROS Commands

Below are some useful ROS Commands that you'll be using and needing to get information

  • roscore - starts the roscore service required to playback and subscribe to bag topics
  • rosbag info - lists information for a bag including the included topics
    root@03efcb8f4879:/mnt/DataSets/internal/bags# rosbag info bag_laser_horiz_0.bag
path:         bag_laser_horiz_0.bag
version:      2.0
duration:     60.0s
start:        Sep 29 2022 16:07:41.83 (1664467661.83)
end:          Sep 29 2022 16:08:41.82 (1664467721.82)
size:         36.2 MB
messages:     3017
compression:  bz2 [69/69 chunks; 68.63%]
uncompressed: 52.6 MB @ 898.2 KB/s
compressed:   36.1 MB @ 616.4 KB/s (68.63%)
types:        velodyne_msgs/VelodyneScan [50804fc9533a0e579e6322c04ae70566]
topics:       /laser_horiz/packets   3017 msgs    : velodyne_msgs/VelodyneScan
root@03efcb8f4879:/mnt/DataSets/internal/bags#

     

  • rosbag play - plays back the data recorded in a bag file

     

    root@03efcb8f4879:/mnt/DataSets/internal/bags# rosbag play bag_laser_vert_0.bag
[ INFO] [1729462384.630717691]: Opening bag_laser_vert_0.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
 [RUNNING]  Bag Time: 1664467662.912766   Duration: 1.048908 / 59.992893
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