ROS Programming: Building Powerful Robots

Recording data in a bag file with rosbag

The first thing we have to do is simply record some data. We are going to use a very simple system as an example-our example4 node. Hence, we will first run the node:

    $ rosrun chapter3_tutorials example4
  

Now, we have two options. First, we can record all the topics with the following command:

    $ rosbag record -a
  

Otherwise, we can record only specific topics. In this case, it makes sense to record only the example4 topics, so we will run the following command:

    $ rosbag record /temp /accel
  

By default, when we run the previous command, the rosbag program subscribes to the node and starts recording the message in a bag file in the current directory with the date as the name. Once the experiment has ...