[ros-users] icra_navigation_gazebo -> test -> playing back bag files

[Juracy Emanuel]

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 at emanuel-laptop:~$ cd ~/.ros/test_results/ros_epic_fail_raw_bags
emanuel at 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 at emanuel-laptop:~/.ros/test_results/ros_epic_fail_raw_bags$