ros2 bag record -a -o my_bag --qos-profile-overrides-path durability_override.yaml 如果想回放该bag文件但使用不同的可靠性策略,则可以指定像下面这样的一个策略文件: # reliability_override.yaml /talker: reliability: best_effort history: keep_all 并用以下命令从命令行界面CLI中调用该策略文件: ros2...
3. ros2 bag record 在terminal4 使用ros2 bag储存信息前应事先进入希望存储的目标路径下: # ros2 bag record <topic_name> ros2 bag record /turtle1/cmd_vel [INFO] [1679060174.515534778] [rosbag2_recorder]: Press SPACE for pausing/resuming [INFO] [1679060174.516821502] [rosbag2_storage]: Opened...
ROS1未考虑不稳定网络情况下的通信可靠性,导致TCPROS通信在无线通信场景下,可能因网络连接导致导致后退、重传输和延迟 ROS2 引入了 QoS,即服务质量。通过配置不同的服务质量策略(Quality of service policy),ROS2可以像TCP一样可靠,也可以像UDP那样尽力而为。在不稳定的网络环境下,“尽力而为”策略将更合适。ROS2...
当我们录制一个ros2的bag时可以得到一个文件夹,文件夹里包含ROS2的功能包的sqlite3数据库文件,和一个配置文件`` 小鱼特地跑去测试了下,在humble版本ROS2上,ros2 bag是支持一个叫做reindex的指令的,通过这个指令可以重建ROS2录制的功能包的metadata.yaml。 内容大概是下面这样 rosbag2_bagfile_information: version...
常用命令与快捷键 打开终端:Ctrl + alt + T 关闭终端:Ctrl + d 自动补全:Tab 切换目录-cd cd //切换到根目录 cd .. //切换到上级目录 cd ../.. //切换到上两级目录 cd ~ //切换到用户根目录 cd / //切换到根目录 cd dir1/dir2 //切换到指定目录 ...
ros2 bag record ros2 bag reindex For up-to-date information on the available options for each, useros2 bag <verb> --help. Moreover,rosbag2_transport::Playerandrosbag2_transport::Recordercomponents can be instantiated inrclcppcomponent containers, which makes possible to use intra-process commu...
When recording, ros2 bag record saves QoS information for each publisher on a specific topic to the database (under 'offered_qos_profiles'). Each message received on that topic is also saved. However, there is not an association between the messages and the QoS settings used to originally ...
ros2 bag record/topic_name rviz2 gazebo 代码模板:https://github.com/mikeferguson/ros2_cookbook 国内参考:https://fishros.com/d2lros2foxy/#/codebook/README cmake工程引用rclcpp示例: 创建main.cpp,写一个hello_world_cpp节点示例: 代码语言:javascript ...
rosbag2 Version 0.8.0 (#738) 4年前 rosbag2_compression Rename Reader/Writer 'reset' to 'close' (#760) 3年前 rosbag2_compression_zstd Version 0.8.0 (#738) 4年前 rosbag2_cpp Naive clock jump implementation - allows for clock reuse and simplifie… ...
# Record ros2 bag record --qos-profile-overrides-path override.yaml -a -o my_bag # Playback ros2 bag play --qos-profile-overrides-path override.yaml my_bag See the official QoS override tutorial and "About QoS Settings" for more detail. Using in launch We can invoke the command line...