Espace ressources

When to do it: for example in case of uncontrolled “recovery behavior”

1. measure:
   • make a bag: cd bagfiles; rosbag record -a
2. replay the bag : rosbag play mybagfile.bag
3. visualize the data:
   • getting information on a bag:
     • command line: rosbag info mybag.bag
     • in python : see tutorial
   • rosbag API+python: rosbag API, in python API

     # to run in a python terminal
import rosbag
from std_msgs.msg import Int32, String
bag = rosbag.Bag('test.bag', 'r')

   • rqt_bag: rqt_bag and the “plot” plugin.
   • rqtplot: rqt_plot /odom/twist/twist/angular/z /cmd_vel/angular/z

• possible causes:
  • check costmap_common_params: inflation_radius, footprint
  • check spurious points in laserscan