Espace ressources

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

1. measure:
   • make a bag: cd bagfiles; rosbag record -a '' - replay the bag : ''rosbag play mybagfile.bag
2. 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') '' </WRAP> * 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