ROS学习记录

ROS话题（topic）映射

1. 直接运行ROS节点并在命令行中映射
   如：用Intel RealSense T265运行ORB-SLAM3时，可以将鱼眼相机的话题/camera/fisheye1/image_raw映射为代码中的话题/camera/left/image_raw。

rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt ./Examples/ROS/ORB_SLAM3/IntelRealSenseT265.yaml  /camera/left/image_raw:=/camera/fisheye1/image_raw  /camera/left/image_raw:=/camera/fisheye2/image_raw   /imu:=/camera/imu false 

2. 播放数据包bag并在命令行中进行映射

rosbag play --pause THU_Campus1.bag /camera/fisheye1/image_raw:/camera/left/image_raw /camera/fisheye2/image_raw:=/camera/left/image_raw /camera/imu:=/imu
# 添加`--pause`参数后，按空格键可以对数据包进行暂停或者开始

3. 使用remap标签在launch文件中进行重映射
   待添加

ROS中rosbag命令

1. 录制数据包

rosbag record -a
# 录制全部的话题

rosbag record -O ThuCampus.bag /camera/fisheye1/image_raw /camera/fisheye2/image_raw /camera/imu
# 将数据包文件起名为ThuCampus.bag
# 录制了三个话题
# /camera/fisheye1/image_raw
# /camera/fisheye2/image_raw
# /camera/imu

rosbag record --split --size=1024 /camera/fisheye1/image_raw
# 单位MB
rosbag record --split --duration=30 /camera/fisheye1/image_raw
# 录制30秒
rosbag record --split --duration=5m /camera/fisheye1/image_raw
# 录制5分钟
rosbag record --split --duration=2h /camera/fisheye1/image_raw
# 录制2小时

2. 剪辑数据包

# 表达式
filter <in-bag> <out-bag> <expression>

# 例子
rosbag filter my.bag out.bag "topic == '/camera/fisheye1/image_raw' or topic == '/camera/fisheye２/image_raw'"　# 根据话题进行剪辑
rosbag filter my.bag out.bag "t.to_sec() >= 123444.77 and t.to_sec() <= 234545.88"　# 根据时间进行剪辑