# ROSBAG Structures

These are the individual .bag files recorded from the VLX and what information can be found inside them.

<table border="1" id="bkmrk-file-location-create" style="border-collapse: collapse; width: 105.833%; height: 165.8px;"><colgroup><col style="width: 19.5463%;"></col><col style="width: 17.2818%;"></col><col style="width: 10.3691%;"></col><col style="width: 18.3545%;"></col><col style="width: 14.0612%;"></col><col style="width: 20.5024%;"></col></colgroup><tbody><tr style="height: 29.8px;"><td style="height: 29.8px;">**File**  
</td><td style="height: 29.8px;">**Location**  
</td><td style="height: 29.8px;">**Creator**  
</td><td style="height: 29.8px;">**Info**  
</td><td style="height: 29.8px;">**Topics**  
</td><td style="height: 29.8px;">**Types** </td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">trajectory\_slam.bag  
</td><td style="height: 29.8px;">/internal/  
</td><td style="height: 29.8px;">navvis  
</td><td style="height: 29.8px;">It's the path of something...  
</td><td style="height: 29.8px;">/path

</td><td style="height: 29.8px;">nav\_msgs/Path

</td></tr><tr style="height: 46.6px;"><td style="height: 46.6px;">trajectory\_local.bag  
</td><td style="height: 46.6px;">/internal/artifacts/  
</td><td style="height: 46.6px;">IMU  
</td><td style="height: 46.6px;">the local path of the VLX during recording  
</td><td style="height: 46.6px;">/tf\_trajectory

</td><td style="height: 46.6px;">tf2\_msgs/Path

</td></tr><tr><td>bag\_&lt;timestamp&gt;.bag  
</td><td>/internal/bags/  
</td><td>navvis  
</td><td>Mixed information from various sensors during scan  
</td><td>/beacon\_data  
/cam0/temperature  
/cam1/temperature  
/cam2/temperature  
/cam3/temperature  
/controller/parameter\_descriptions  
/controller/parameter\_updates  
/controller/trigger  
/detected\_hook\_size  
/diagnostics  
/flir\_sys\_init  
/hw\_trigger\_button\_pressed  
/image\_saving  
/imu/acc\_pure  
/imu/delta\_vel\_orient  
/imu/imu\_raw/data  
/imu/imu\_sync\_status  
/imu/magnetic\_field  
/joint\_states  
/laser\_horiz/temperature  
/laser\_vert/temperature  
/target\_fps  
/trigger\_event  
/trigger\_event\_header  
/trigger\_processed  
/usable\_trajectory\_start\_time  
/user\_interaction  
/watchdog/diagnostics  
/watchdog/status

</td><td> bluetooth\_beacon\_logger/BleBeacon  
diagnostic\_msgs/DiagnosticArray  
dynamic\_reconfigure/Config  
dynamic\_reconfigure/ConfigDescription  
geometry\_msgs/Vector3Stamped  
navvis\_msgs/HookSize  
navvis\_msgs/ImageSaving  
navvis\_msgs/ImuDeltaVelOrient  
navvis\_msgs/ImuSyncStatus  
navvis\_msgs/TriggerEvent  
navvis\_msgs/UserInteraction  
navvis\_msgs/WatchdogDiagnostics  
navvis\_msgs/WatchdogStatus  
sensor\_msgs/Imu  
sensor\_msgs/JointState  
sensor\_msgs/MagneticField  
sensor\_msgs/Temperature  
std\_msgs/Bool  
std\_msgs/Header  
std\_msgs/Time  
std\_msgs/UInt32

</td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">bag\_laser\_horiz\_#.bag  
</td><td style="height: 29.8px;">/internal/bags/  
</td><td style="height: 29.8px;">velodyne  
</td><td style="height: 29.8px;">  
</td><td style="height: 29.8px;">/laser\_horiz/packets

</td><td style="height: 29.8px;"> velodyne\_msgs/VelodyneScan

</td></tr><tr style="height: 29.8px;"><td style="height: 29.8px;">bag\_laser\_vert\_#.bag  
</td><td style="height: 29.8px;">/internal/bags  
</td><td style="height: 29.8px;">velodyne  
</td><td style="height: 29.8px;">  
</td><td style="height: 29.8px;">/laser\_vert/packets

</td><td style="height: 29.8px;"> velodyne\_msgs/VelodyneScan

</td></tr></tbody></table>