在/ camera / image_raw以外的主题上发布rosbag图像

Question

是否可以在/ camera / image_raw以外的主题上播放包含图像的rosbag文件？

Answer 1

是的，您可以简单地remap your arguments或remap your topic-tag。

• 您可以在播放单个节点时从终端级别执行此操作：

rosbag play mybagfile.bag /camera/image_raw:=/dataset/name

• 您可以在your rosbag play command之前从roslaunch文件中执行此操作。运行多个节点时非常有用。

重新映射示例：

<remap from = "/camera/image_raw" to = "/dataset/name" />

roslaunch示例：

<launch>
<arg name = "pathToRosbag"  default = "/home/path/to/Rosbag.bag" />
<remap from = "/camera/image_raw" to = "/dataset/name" />
<node pkg  = "rosbag"
      type = "play"
      name = "player"
      args = "$(arg pathToRosbag)"/>
</launch>