Eitan , Thank you for the link about rosbag. I would like in fact to know if it is possible to use the bag files (for example, the bag file bellow) to reproduce the simulation presented using Gazebo. Juracy emanuel@emanuel-laptop:~$ cd ~/.ros/test_results/ros_epic_fail_raw_bags emanuel@emanuel-laptop:~/.ros/test_results/ros_epic_fail_raw_bags$ rosbag info icra_navigation_gazebo.rostest__worlds_blind_corner_blind_corner.bag path: icra_navigation_gazebo.rostest__worlds_blind_corner_blind_corner.bag version: 2.0 duration: 1:01s (61s) start: Dec 31 1969 21:00:00.29 (0.29) end: Dec 31 1969 21:01:02.18 (62.18) size: 4.1 GB messages: 167846 compression: none [754/754 chunks] types: actionlib_msgs/GoalStatusArray [8b2b82f13216d0a8ea88bd3af735e619] costmap_2d/VoxelGrid [48a040827e1322073d78ece5a497029c] diagnostic_msgs/DiagnosticArray [3cfbeff055e708a24c3d946a5c8139cd] dynamic_reconfigure/Config [be5ce5fa8101a5199199ac5a9b231457] dynamic_reconfigure/ConfigDescription [5f0f929417f58ac7f30dfdd9e4d40ef2] geometry_msgs/PolygonStamped [c6be8f7dc3bee7fe9e8d296070f53340] geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5] geometry_msgs/PoseWithCovarianceStamped [953b798c0f514ff060a53a3498ce6246] geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a] move_base_msgs/MoveBaseActionFeedback [7d1870ff6e0decea702b943b5af0b42e] move_base_msgs/MoveBaseActionGoal [660d6895a1b9a16dce51fbdd9a64a56b] move_base_msgs/MoveBaseActionResult [1eb06eeff08fa7ea874431638cb52332] nav_msgs/GridCells [b9e4f5df6d28e272ebde00a3994830f5] nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7] nav_msgs/Path [6227e2b7e9cce15051f669a5e197bbf7] pr2_controllers_msgs/JointTrajectoryControllerState [b11d532a92ee589417fdd76559eb1d9e] pr2_mechanism_controllers/BaseControllerState [7a488aa492f9175d5fa35e22e56c4b28] pr2_mechanism_controllers/BaseOdometryState [8a483e137ebc37abafa4c26549091dd6] pr2_mechanism_controllers/Odometer [1f1d53743f4592ee455aa3eaf9019457] pr2_mechanism_msgs/MechanismStatistics [b4a99069393681672c01f8c823458e04] pr2_msgs/LaserScannerSignal [78f41e618127bce049dd6104d9c31dc5] pr2_msgs/PowerState [e6fa46a387cad0b7a80959a21587a6c9] roslib/Clock [a9c97c1d230cfc112e270351a944ee47] roslib/Log [acffd30cd6b6de30f120938c17c593fb] sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd] sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] std_msgs/Bool [8b94c1b53db61fb6aed406028ad6332a] tf/tfMessage [94810edda583a504dfda3829e70d7eec] topics: /base_controller/command 575 msgs @ 10.0 Hz : geometry_msgs/Twist /base_controller/state 15 msgs @ 0.2 Hz : pr2_mechanism_controllers/BaseControllerState /base_odometry/odom 5423 msgs @ 90.9 Hz : nav_msgs/Odometry /base_odometry/odometer 59 msgs @ 1.0 Hz : pr2_mechanism_controllers/Odometer /base_odometry/state 59 msgs @ 1.0 Hz : pr2_mechanism_controllers/BaseOdometryState /base_pose_ground_truth 6154 msgs @ 100.0 Hz : nav_msgs/Odometry /base_scan 1230 msgs @ 20.0 Hz : sensor_msgs/LaserScan /base_scan_throttled 60 msgs @ 1.0 Hz : sensor_msgs/LaserScan /calibrated 1 msg : std_msgs/Bool /clock 107988 msgs : roslib/Clock /diagnostics 62 msgs @ 1.0 Hz : diagnostic_msgs/DiagnosticArray /diagnostics_agg 62 msgs @ 1.0 Hz : diagnostic_msgs/DiagnosticArray /head_traj_controller/point_head_action/status 309 msgs @ 5.0 Hz : actionlib_msgs/GoalStatusArray /head_traj_controller/state 5967 msgs @ 100.0 Hz : pr2_controllers_msgs/JointTrajectoryControllerState /joint_states 6038 msgs @ 90.9 Hz : sensor_msgs/JointState /l_gripper_controller/gripper_action/status 309 msgs @ 5.0 Hz : actionlib_msgs/GoalStatusArray /laser_tilt_controller/laser_scanner_signal 55 msgs @ 1.9 Hz : pr2_msgs/LaserScannerSignal /mechanism_statistics 61 msgs @ 1.0 Hz : pr2_mechanism_msgs/MechanismStatistics /move_base_local/feedback 583 msgs @ 10.0 Hz : move_base_msgs/MoveBaseActionFeedback /move_base_local/goal 1 msg : move_base_msgs/MoveBaseActionGoal /move_base_local/result 1 msg : move_base_msgs/MoveBaseActionResult /move_base_local/status 295 msgs @ 5.0 Hz : actionlib_msgs/GoalStatusArray /move_base_local_node/NavfnROS/plan 92 msgs @ 9.5 Hz : nav_msgs/Path /move_base_local_node/TrajectoryPlannerROS/global_plan 576 msgs @ 10.0 Hz : nav_msgs/Path /move_base_local_node/TrajectoryPlannerROS/local_plan 438 msgs @ 10.0 Hz : nav_msgs/Path /move_base_local_node/current_goal 1 msg : geometry_msgs/PoseStamped /move_base_local_node/global_costmap/inflated_obstacles 59 msgs @ 1.0 Hz : nav_msgs/GridCells /move_base_local_node/global_costmap/obstacles 59 msgs @ 1.0 Hz : nav_msgs/GridCells /move_base_local_node/global_costmap/robot_footprint 295 msgs @ 5.0 Hz : geometry_msgs/PolygonStamped /move_base_local_node/global_costmap/unknown_space 59 msgs @ 1.0 Hz : nav_msgs/GridCells /move_base_local_node/global_costmap/voxel_grid 295 msgs @ 5.0 Hz : costmap_2d/VoxelGrid /move_base_local_node/local_costmap/inflated_obstacles 117 msgs @ 2.0 Hz : nav_msgs/GridCells /move_base_local_node/local_costmap/obstacles 117 msgs @ 2.0 Hz : nav_msgs/GridCells /move_base_local_node/local_costmap/robot_footprint 293 msgs @ 5.0 Hz : geometry_msgs/PolygonStamped /move_base_local_node/local_costmap/unknown_space 117 msgs @ 2.0 Hz : nav_msgs/GridCells /move_base_local_node/local_costmap/voxel_grid 293 msgs @ 5.0 Hz : costmap_2d/VoxelGrid /move_base_local_node/local_costmap/voxel_grid_throttled 146 msgs @ 2.5 Hz : costmap_2d/VoxelGrid /narrow_stereo/left/camera_info 1539 msgs @ 25.0 Hz : sensor_msgs/CameraInfo /narrow_stereo/narrow_stereo_proc/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /narrow_stereo/narrow_stereo_proc/parameter_updates 1 msg : dynamic_reconfigure/Config /narrow_stereo/right/camera_info 1539 msgs @ 25.0 Hz : sensor_msgs/CameraInfo /power_state 61 msgs @ 1.0 Hz : pr2_msgs/PowerState /prosilica/camera_info 1231 msgs @ 20.0 Hz : sensor_msgs/CameraInfo /r_gripper_controller/gripper_action/status 309 msgs @ 5.0 Hz : actionlib_msgs/GoalStatusArray /robot_pose_ekf/odom_combined 1788 msgs @ 27.0 Hz : geometry_msgs/PoseWithCovarianceStamped /rosout 118 msgs : roslib/Log (13 connections) /rosout_agg 98 msgs : roslib/Log /tf 4866 msgs @ 62.5 Hz : tf/tfMessage (2 connections) /tilt_scan 2462 msgs @ 40.0 Hz : sensor_msgs/LaserScan /tilt_scan_throttled 60 msgs @ 1.0 Hz : sensor_msgs/LaserScan /torso_controller/position_joint_action/status 308 msgs @ 5.0 Hz : actionlib_msgs/GoalStatusArray /torso_controller/state 5967 msgs @ 100.0 Hz : pr2_controllers_msgs/JointTrajectoryControllerState /torso_lift_imu/data 6154 msgs @ 100.0 Hz : sensor_msgs/Imu /wide_stereo/left/camera_info 1539 msgs @ 25.0 Hz : sensor_msgs/CameraInfo /wide_stereo/right/camera_info 1539 msgs @ 25.0 Hz : sensor_msgs/CameraInfo /wide_stereo/wide_stereo_proc/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription /wide_stereo/wide_stereo_proc/parameter_updates 1 msg : dynamic_reconfigure/Config emanuel@emanuel-laptop:~/.ros/test_results/ros_epic_fail_raw_bags$