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