xs
197 lines
4.3 KiB
Markdown
197 lines
4.3 KiB
Markdown
# 20 · ros2 bag 录制与回放 完全指南
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> **目标**: 掌握 ros2 bag 命令行,能录制 topic、回放、调试、训练数据采集。
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---
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## 目录
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- [1. 是什么](#1-是什么)
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- [2. 录制 topic](#2-录制-topic)
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- [3. 回放 topic](#3-回放-topic)
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- [4. 查看包信息](#4-查看包信息)
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- [5. 转换格式](#5-转换格式)
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- [6. QoS 与 bag](#6-qos-与-bag)
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- [7. VLA 训练数据采集](#7-vla-训练数据采集)
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- [8. 推荐阅读](#8-推荐阅读)
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---
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## 1. 是什么
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**ros2 bag** = ROS2 自带的 topic 录制 / 回放工具,生成 `.db3` (SQLite) 文件 + `metadata.yaml`。
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用途:
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- 调试:录一段数据,反复回放调试算法
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- 测试:用录的数据做单元测试
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- 训练:VLA / 机器学习数据采集
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- 回归:确保算法在新数据上仍 work
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## 2. 录制 topic
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```bash
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# 录制所有 topic
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ros2 bag record -a -o my_bag
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# 录制指定 topic
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ros2 bag record /chatter /tf /joint_states -o my_bag
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# 指定压缩格式
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ros2 bag record /chatter -o my_bag --compression-mode file --compression-format zstd
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# 限制时长
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ros2 bag record /chatter -o my_bag --duration 30 # 30 秒
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# 限制大小
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ros2 bag record /chatter -o my_bag --max-bag-size 100000000 # 100 MB
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# 排除 topic
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ros2 bag record -a -o my_bag --exclude "/_.*"
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```
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输出:
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```
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my_bag/
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├── metadata.yaml
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└── my_bag_0.db3
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```
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## 3. 回放 topic
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```bash
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# 回放(需要原始节点还在,否则消息无 subscriber)
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ros2 bag play my_bag
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# 循环回放
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ros2 bag play my_bag --loop
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# 调整速率(2 倍速)
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ros2 bag play my_bag --rate 2.0
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# 从中间开始
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ros2 bag play my_bag --start-offset 10 # 10 秒处开始
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# 延迟发布
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ros2 bag play my_bag --delay 1.0 # 每条消息延迟 1 秒
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```
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## 4. 查看包信息
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```bash
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# 概览
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ros2 bag info my_bag
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# YAML 格式详情
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ros2 bag info my_bag --yaml
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# 单个 topic 详情
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ros2 bag info my_bag -t /chatter
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```
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输出:
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```
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Files: my_bag_0.db3
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Bag size: 1.2 MiB
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Storage id: sqlite3
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Duration: 10.05s
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Start: Aug 4 2026 14:00:00.123
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End: Aug 4 2026 14:00:10.123
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Messages: 100
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Topic information: MessageType Count
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std_msgs/String 100
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```
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## 5. 转换格式
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### 导出 CSV
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```bash
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ros2 bag info my_bag --yaml > my_bag_info.yaml
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```
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### 用 rosbags 库(Python)
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```python
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from rosbags.rosbag2 import Reader
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with Reader('my_bag') as reader:
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for msg in reader.messages():
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topic = msg.topic
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timestamp = msg.timestamp
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data = msg.message
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...
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```
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## 6. QoS 与 bag
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**关键**: 回放时 subscriber 的 QoS 必须 **兼容** publisher 的 QoS(录制时的 QoS)。
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```bash
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# 默认 bag 会用 RELIABLE 录制,如果你用 BEST_EFFORT subscriber,会报错
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# 解决:用 --qos-profile-overrides 覆盖回放 QoS
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ros2 bag play my_bag --qos-profile-overrides-path qos_override.yaml
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```
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`qos_override.yaml`:
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```yaml
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/chatter:
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reliability: best_effort
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history: keep_last
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depth: 1
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```
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## 7. VLA 训练数据采集
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OpenVLA / π0 等模型需要大量 (image, instruction, action) 三元组。ROS2 bag 录制:
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```bash
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# 录制图像 + 关节 + 指令
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ros2 bag record \
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/camera/color/image_raw \
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/camera/depth/color/points \
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/joint_states \
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/ee_pose \
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/task_instruction \
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-o vla_episode_001
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```
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回放 + 转 VLA 训练格式:
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```python
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from rosbags.rosbag2 import Reader
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from cv_bridge import CvBridge
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import numpy as np
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bridge = CvBridge()
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samples = []
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with Reader('vla_episode_001') as reader:
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for msg in reader.messages():
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if msg.topic == '/camera/color/image_raw':
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image = bridge.imgmsg_to_cv2(msg.message, 'bgr8')
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samples.append({'image': image, 'timestamp': msg.timestamp})
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```
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## 8. 推荐阅读
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- [ROS2 bag 命令行](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Recording-And-Playing-Back-Data.html)
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- [rosbags Python 库](https://github.com/idx-lab/rosbags)
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- [Foxglove Studio(可视化 bag)](https://studio.foxglove.dev/)
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---
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---
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## 📖 阅读路径导航
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> 💡 这是仓库 `doc/` 下所有文档的推荐阅读顺序。[返回 README 总导航](../README.md#-23-篇文档怎么读)
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>
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> ⏱ **本文预计阅读时间**: 20 分钟
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> 📍 **当前位置**: 第 12 / 24 篇
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- ⏮ **上一篇**: [Topic pub/sub 深度](../20-topics.md)
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