catvehicle-neighborhood-hardleft-short.bag.tar.gz

File description

This bagfile is a capture of the catvehicle_neighborhood.launch file. The hardLeft.sh test is run early in the file, which allows the vehicle to move around in a circle.

This is similar to the longer catvehicle-neighborhood-hardleft.bag.tar.gz file, except the motion happens much earlier in the sequence of events.

Extract file

The bagfile must be unzipped in order to use it. Use

tar xzf filename.bag.tar.gz

in order to extract it.

What topics are included in this file

Use the command

rosbag info filename.bag

For this file, the result is:

$ rosbag info catvehicle-neighborhood-hardleft-short.bag 
path:        catvehicle-neighborhood-hardleft-short.bag
version:     2.0
duration:    20.2s
start:       Dec 31 1969 16:18:23.93 (1103.93)
end:         Dec 31 1969 16:18:44.11 (1124.11)
size:        310.2 MB
messages:    88889
compression: none [190/190 chunks]
types:       dynamic_reconfigure/Config            [958f16a05573709014982821e6822580]
             dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
             gazebo_msgs/LinkStates                [48c080191eb15c41858319b4d8a609c2]
             gazebo_msgs/ModelStates               [48c080191eb15c41858319b4d8a609c2]
             geometry_msgs/Twist                   [9f195f881246fdfa2798d1d3eebca84a]
             geometry_msgs/Wrench                  [4f539cf138b23283b520fd271b567936]
             nav_msgs/Odometry                     [cd5e73d190d741a2f92e81eda573aca7]
             nav_msgs/Path                         [6227e2b7e9cce15051f669a5e197bbf7]
             rosgraph_msgs/Clock                   [a9c97c1d230cfc112e270351a944ee47]
             rosgraph_msgs/Log                     [acffd30cd6b6de30f120938c17c593fb]
             sensor_msgs/CameraInfo                [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/CompressedImage           [8f7a12909da2c9d3332d540a0977563f]
             sensor_msgs/Image                     [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/JointState                [3066dcd76a6cfaef579bd0f34173e9fd]
             sensor_msgs/LaserScan                 [90c7ef2dc6895d81024acba2ac42f369]
             sensor_msgs/PointCloud                [d8e9c3f5afbdd8a130fd1d2763945fca]
             std_msgs/Float32                      [73fcbf46b49191e672908e50842a83d4]
             std_msgs/Float64                      [fdb28210bfa9d7c91146260178d9a584]
             tf2_msgs/TFMessage                    [94810edda583a504dfda3829e70d7eec]
             theora_image_transport/Packet         [33ac4e14a7cff32e7e0d65f18bb410f3]
topics:      /catvehicle/camera_left/camera_left_info                                           57 msgs    : sensor_msgs/CameraInfo               
             /catvehicle/camera_left/image_raw_left                                             58 msgs    : sensor_msgs/Image                    
             /catvehicle/camera_left/image_raw_left/compressed                                  58 msgs    : sensor_msgs/CompressedImage          
             /catvehicle/camera_left/image_raw_left/compressed/parameter_descriptions            1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_left/image_raw_left/compressed/parameter_updates                 1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_left/image_raw_left/compressedDepth/parameter_descriptions       1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_left/image_raw_left/compressedDepth/parameter_updates            1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_left/image_raw_left/theora                                      60 msgs    : theora_image_transport/Packet        
             /catvehicle/camera_left/image_raw_left/theora/parameter_descriptions                1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_left/image_raw_left/theora/parameter_updates                     1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_left/parameter_descriptions                                      1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_left/parameter_updates                                           1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_right/camera_right_info                                         57 msgs    : sensor_msgs/CameraInfo               
             /catvehicle/camera_right/image_raw_right                                           57 msgs    : sensor_msgs/Image                    
             /catvehicle/camera_right/image_raw_right/compressed                                57 msgs    : sensor_msgs/CompressedImage          
             /catvehicle/camera_right/image_raw_right/compressed/parameter_descriptions          1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_right/image_raw_right/compressed/parameter_updates               1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_right/image_raw_right/theora                                    60 msgs    : theora_image_transport/Packet        
             /catvehicle/camera_right/image_raw_right/theora/parameter_descriptions              1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_right/image_raw_right/theora/parameter_updates                   1 msg     : dynamic_reconfigure/Config           
             /catvehicle/camera_right/parameter_descriptions                                     1 msg     : dynamic_reconfigure/ConfigDescription
             /catvehicle/camera_right/parameter_updates                                          1 msg     : dynamic_reconfigure/Config           
             /catvehicle/cmd_vel_safe                                                         3367 msgs    : geometry_msgs/Twist                   (2 connections)
             /catvehicle/distanceEstimator/angle                                               101 msgs    : std_msgs/Float32                     
             /catvehicle/distanceEstimator/dist                                                105 msgs    : std_msgs/Float32                     
             /catvehicle/front_laser_points                                                    106 msgs    : sensor_msgs/LaserScan                
             /catvehicle/front_left_steering_position_controller/command                      2087 msgs    : std_msgs/Float64                     
             /catvehicle/front_right_steering_position_controller/command                     2075 msgs    : std_msgs/Float64                     
             /catvehicle/joint1_velocity_controller/command                                   2055 msgs    : std_msgs/Float64                     
             /catvehicle/joint2_velocity_controller/command                                   2066 msgs    : std_msgs/Float64                     
             /catvehicle/joint_states                                                         2246 msgs    : sensor_msgs/JointState                (2 connections)
             /catvehicle/lidar_points                                                          105 msgs    : sensor_msgs/PointCloud               
             /catvehicle/odom                                                                 2065 msgs    : nav_msgs/Odometry                    
             /catvehicle/path                                                                  210 msgs    : nav_msgs/Path                        
             /catvehicle/steering                                                             1954 msgs    : geometry_msgs/Wrench                 
             /catvehicle/vel                                                                  2061 msgs    : geometry_msgs/Twist                  
             /clock                                                                          19976 msgs    : rosgraph_msgs/Clock                  
             /gazebo/link_states                                                             19760 msgs    : gazebo_msgs/LinkStates               
             /gazebo/model_states                                                            20043 msgs    : gazebo_msgs/ModelStates              
             /gazebo/parameter_descriptions                                                      1 msg     : dynamic_reconfigure/ConfigDescription
             /gazebo/parameter_updates                                                           1 msg     : dynamic_reconfigure/Config           
             /rosout                                                                            84 msgs    : rosgraph_msgs/Log                     (5 connections)
             /rosout_agg                                                                        71 msgs    : rosgraph_msgs/Log                    
             /tf                                                                              7872 msgs    : tf2_msgs/TFMessage                    (3 connections)

How to play the file for use

In order to use this data file, you should use

rosbag play filename.bag