I captured a large bag file (8GB) onto a flash drive and I'm having
some problems with the bag file. I'm hoping someone has some thoughts
about how to recover the data.
After doing a rosbag check on the file, I'm prompted to reindex. After
reindexing, I can play and get info on the bag file but the duration
of the file is much shorter than it should be.
Here is the output from rosbag info:
path: 2010-11-11-13-37-15.orig.bag
version: 2.0
duration: 4:12s (252s)
start: Nov 11 2010 13:37:16.53 (1289500636.53)
end: Nov 11 2010 13:41:29.10 (1289500889.10)
size: 8.6 GB
messages: 61630
compression: none [1263/1263 chunks]
types: airrobot/airrobotStatus [0e57b2e36051c68a9631c54edf913cc9]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
roslib/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/CameraInfo [1b5cf7f984c229b6141ceb3a955aa18f]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
topics: /airrobot_gps_data 1528 msgs @ 6.6 Hz :
nav_msgs/Odometry
/airrobot_imu_data 3057 msgs @ 13.3 Hz :
sensor_msgs/Imu
/airrobot_status 1529 msgs @ 6.6 Hz :
airrobot/airrobotStatus
/imu_data 20008 msgs @ 154.8 Hz :
sensor_msgs/Imu
/optilogic_laserscan 27914 msgs @ 111.5 Hz :
sensor_msgs/LaserScan
/rosout 12 msgs @ 25.9 Hz :
roslib/Log (4 connections)
/rosout_agg 1 msg :
roslib/Log
/unicap_camera/camera_info 3792 msgs @ 15.0 Hz :
sensor_msgs/CameraInfo
/unicap_camera/image_raw 3789 msgs @ 15.0 Hz :
sensor_msgs/Image
You can see the size is 8GB but the duration is only 252 seconds.
Normally when recording bag files on this system, we get about 5MB/sec
but here it is 341 MB/sec. I was using bviplus
(
http://bviplus.sourceforge.net/) to look at the raw data in the bag
file.
Here is a link to the file:
http://www.frc.ri.cmu.edu/~achamber/2010-Nov-11/2010-11-11-13-37-15.bag
Thanks,
Andrew