<param name="/use_sim_time" value="true" /> <node type="rviz" name="rviz" pkg="rviz" output="screen" args="-d $(findannotate)/launch/demo.rviz" /> <node pkg="rosbag" type="play" name="playback" output="screen" args="--clock --quiet $(arg bag)" if="$(eval bag != '...
<arg name="rosbag_play_args"default="--clock --queue=5 --delay=0 --start=$(arg start) --duration=$(arg duration) --rate=$(arg rate)"/> <!-- extra arguments used to play back the bagfile --> <!-- Important: Use simulated time publishedon/clock topic, otherwise TF will be ...
1.启动 ROS master roscore 2.指定系统以 simulated time 运行 rosparamset/use_sim_timetrue 官方的解释如下: This basically tells nodes on startup to use simulated time (ticked here by rosbag) instead of wall-clock time (as in a live system). It avoids confusing time-dependent components like...
在开启一个Node之前,当把use_sim_time设置为true时,这个节点会从clock Topic获得时间。所以操作这个clock的发布者,可以实现一个让Node中得到ROS Time暂停、加速、减速的效果。同时下面这些方面都是跟Node透明的,所以非常适合离线的调试方式。当把ROSbag记下来以后重新play出来时,加两个横杠,–clock,它就会发布出这个...
Second ScenarioI do the same as the previous scenario but instead of rosbag play I runrqt_bag the_bag.bagand once there I right click the message topublishthem. With that I get similar values but (I have reported the problem before) the first messages are skipped. (...
指定系统以 simulated time 运行 rosparam set /use_sim_time true 官方的解释如下: This basically tells nodes on startup to use simulated time (ticked here by rosbag) instead of wall-clock time (as in a live system). It avoids confusing time-dependent components like tf, which otherwise would...
The file is played with the --clock option and the use_sim_time parameter is set to true. When i just start a roscore and play back the file, it s not freezing, that is the time at the display is running till the end without lags. The messages are published as they should, but ...
首先在turtle_teleop_key所在的终端窗口中按Ctrl+C退出该键盘控制节点。保留turtlesim节点继续运行。在终端中bag文件所在目录下运行以下命令:rosbag play就能够回放出bag中包含的topic内容了。 如果想改变消息的发布速率,可以用下面的命令 代码语言:javascript
Also, the rosbag play console shows: [PAUSED] Bag Time: 1484037724.967132 The commands I used to run the rosbag is rosbag play --clock --pause bagfile.bag And the param use_sim_time is already set to true: $rosparam get use_sim_time ...
Create an accounthereand start to browse the trial course for free now! We’ll use the ROS Basics in 5 Days course as an example today. Step 2: Record Bag file withrosbag The ROS Bag is a powerful tool for you to record and playback your simulation. To start the recording all topic...