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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Saving and playing back data

Usually, when we work with robotic systems, we have to deal with our resources either being shared or not always available, or with the fact that experiments cannot be done regularly because of the cost or time required for preparing and performing them. For this reason, it is good practice to record the data of the experiment session for later analysis and to work, develop, and test our algorithms. However, the process of saving good data so that we can reproduce the experiment offline is not trivial. Fortunately, in ROS we have powerful tools that have already solved this problem.

ROS can save all the messages published on any topic. It has the ability to create a bag file containing the messages as they are, with ...

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