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84 lines
6.1 KiB
84 lines
6.1 KiB
# rs-record Tool
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## Overview
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This tool is designed to collect raw sensor data to rosbag.
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## Description
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The tool records for a certain amount of time to a file as specified by the user.
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The goal is to offer a command line recorder with low latency and zero frame drops.
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## Command Line Parameters
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|Flag |Description |Default|
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|---|---|---|
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|`-t X`|Stop recording after X seconds|10|
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|`-f <filename>`|Save recording to <filename>|"test.bag"|
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For example:
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`rs-record -f ./test1.bag -t 60`
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will collect the data for 60 seconds.
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The data will be saved to `./test1.bag`.
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# Recording file
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The recorded rosbag can be replayed within librealsense as well as within ROS and inspected by common ROS tools such as `rosbag info` or `rqt_bag`.
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One sample of the included data can be seen below:
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```
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path: test.bag
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version: 2.0
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duration: 10.0s
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start: Dec 31 1969 16:00:00.00 (0.00)
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end: Dec 31 1969 16:00:09.00 (10.00)
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size: 392.2 MB
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messages: 33420
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compression: none [301/301 chunks]
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types: diagnostic_msgs/KeyValue [cf57fdc6617a881a88c16e768132149c]
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geometry_msgs/Accel [9f195f881246fdfa2798d1d3eebca84a]
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geometry_msgs/Transform [ac9eff44abf714214112b05d54a3cf9b]
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geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
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realsense_msgs/ImuIntrinsic [aebdc2f8f9726f1c3ca823ab56e47429]
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realsense_msgs/StreamInfo [311d7e24eac31bb87271d041bf70ff7d]
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sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
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sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
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sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
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std_msgs/Float32 [73fcbf46b49191e672908e50842a83d4]
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std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1]
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std_msgs/UInt32 [304a39449588c7f8ce2df6e8001c5fce]
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topics: /device_0/info 5 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Accel_0/imu/data 640 msgs : sensor_msgs/Imu
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/device_0/sensor_0/Accel_0/imu/metadata 2560 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Accel_0/imu_intrinsic 1 msg : realsense_msgs/ImuIntrinsic
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/device_0/sensor_0/Accel_0/info 1 msg : realsense_msgs/StreamInfo
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/device_0/sensor_0/Accel_0/tf/0 1 msg : geometry_msgs/Transform
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/device_0/sensor_0/Fisheye_1/image/data 300 msgs : sensor_msgs/Image
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/device_0/sensor_0/Fisheye_1/image/metadata 1200 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Fisheye_1/info 1 msg : realsense_msgs/StreamInfo
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/device_0/sensor_0/Fisheye_1/info/camera_info 1 msg : sensor_msgs/CameraInfo
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/device_0/sensor_0/Fisheye_1/tf/0 1 msg : geometry_msgs/Transform
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/device_0/sensor_0/Fisheye_2/image/data 300 msgs : sensor_msgs/Image
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/device_0/sensor_0/Fisheye_2/image/metadata 1200 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Fisheye_2/info 1 msg : realsense_msgs/StreamInfo
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/device_0/sensor_0/Fisheye_2/info/camera_info 1 msg : sensor_msgs/CameraInfo
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/device_0/sensor_0/Fisheye_2/tf/0 1 msg : geometry_msgs/Transform
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/device_0/sensor_0/Gyro_0/imu/data 2006 msgs : sensor_msgs/Imu
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/device_0/sensor_0/Gyro_0/imu/metadata 8024 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Gyro_0/imu_intrinsic 1 msg : realsense_msgs/ImuIntrinsic
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/device_0/sensor_0/Gyro_0/info 1 msg : realsense_msgs/StreamInfo
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/device_0/sensor_0/Gyro_0/tf/0 1 msg : geometry_msgs/Transform
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/device_0/sensor_0/Pose_0/info 1 msg : realsense_msgs/StreamInfo
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/device_0/sensor_0/Pose_0/pose/accel/data 1907 msgs : geometry_msgs/Accel
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/device_0/sensor_0/Pose_0/pose/metadata 11442 msgs : diagnostic_msgs/KeyValue
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/device_0/sensor_0/Pose_0/pose/transform/data 1907 msgs : geometry_msgs/Transform
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/device_0/sensor_0/Pose_0/pose/twist/data 1907 msgs : geometry_msgs/Twist
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/device_0/sensor_0/Pose_0/tf/0 1 msg : geometry_msgs/Transform
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/device_0/sensor_0/info 1 msg : diagnostic_msgs/KeyValue
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/device_0/sensor_0/option/Asic Temperature/description 1 msg : std_msgs/String
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/device_0/sensor_0/option/Asic Temperature/value 1 msg : std_msgs/Float32
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/device_0/sensor_0/option/Frames Queue Size/description 1 msg : std_msgs/String
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/device_0/sensor_0/option/Frames Queue Size/value 1 msg : std_msgs/Float32
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/device_0/sensor_0/option/Motion Module Temperature/description 1 msg : std_msgs/String
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/device_0/sensor_0/option/Motion Module Temperature/value 1 msg : std_msgs/Float32
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/file_version 1 msg : std_msgs/UInt32
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```
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