Juracy,
I'm not exactly sure what you're trying to do. If you want to run the simulation, then just run the simulation in gazebo. If you want to play back the results of the simulation, to look at visualization topics and debugging information, then you can play back the bag file produced by running the simulation. What exactly is your use case? That might help me understand things a bit better.
Hope all is well,
Eitan
On Thu, Oct 28, 2010 at 9:46 AM, Juracy Emanuel
<juracy.emanuel@gmail.com> wrote:
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$