bagファイルを見直し
http://www.ros.org/wiki/ja/ROS/Tutorials/Recording%20and%20playing%20back%20data
●以下が
gmappingのチュートリアルで提供されている
bagファイル(basic_localization_stage.bag )の情報
$ rosbag info basic_localization_stage.bag
path: basic_localization_stage.bag
version: 2.0
duration: 1:32s (92s)
start: Jan 01 1970 09:00:34.60 (34.60)
end: Jan 01 1970 09:02:06.80 (126.80)
size: 8.2 MB
messages: 3693
compression: none [11/11 chunks]
types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
tf/tfMessage [94810edda583a504dfda3829e70d7eec]
topics: /base_scan 924 msgs : sensor_msgs/LaserScan
/tf 2769 msgs : tf/tfMessage
●以下が
$ roslaunch turtlebot_bringup 3dsensor.launch
$ rosbag record -a
したときのbagファイル（2013-06-13-15-41-29.bag ）の情報
$ rosbag info 2013-06-13-15-41-29.bag
path: 2013-06-13-15-41-29.bag
version: 2.0
duration: 21.3s
start: Jun 13 2013 15:41:30.72 (1371105690.72)
end: Jun 13 2013 15:41:52.07 (1371105712.07)
size: 2.2 GB
messages: 8835
compression: none [1033/1033 chunks]
types: bond/Status [eacc84bf5d65b6777d4c50f463dfb9c8]
dynamic_reconfigure/Config [958f16a05573709014982821e6822580]
dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
theora_image_transport/Packet [33ac4e14a7cff32e7e0d65f18bb410f3]
topics: /camera/camera_nodelet_manager/bond 84 msgs : bond/Status (3 connections)
/camera/depth/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/camera_info 299 msgs : sensor_msgs/CameraInfo
/camera/depth_registered/image_raw 299 msgs : sensor_msgs/Image
/camera/depth_registered/image_raw/compressed 299 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_raw/compressedDepth 299 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_raw/theora 3 msgs : theora_image_transport/Packet
/camera/depth_registered/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_rect_raw 298 msgs : sensor_msgs/Image
/camera/depth_registered/image_rect_raw/compressed 298 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_rect_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_rect_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_rect_raw/compressedDepth 298 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_rect_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_rect_raw/theora 3 msgs : theora_image_transport/Packet
/camera/depth_registered/image_rect_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_rect_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/points 142 msgs : sensor_msgs/PointCloud2
/camera/depth_registered/rectify_depth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/rectify_depth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depthimage_to_laserscan_loader/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depthimage_to_laserscan_loader/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/openni_camera_loader/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/openni_camera_loader/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/projector/camera_info 299 msgs : sensor_msgs/CameraInfo
/camera/rgb/camera_info 211 msgs : sensor_msgs/CameraInfo
/camera/rgb/debayer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/debayer/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_color 144 msgs : sensor_msgs/Image
/camera/rgb/image_color/compressed 144 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_color/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_color/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_color/theora 147 msgs : theora_image_transport/Packet
/camera/rgb/image_color/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono 145 msgs : sensor_msgs/Image
/camera/rgb/image_mono/compressed 145 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_mono/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono/theora 148 msgs : theora_image_transport/Packet
/camera/rgb/image_mono/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw 211 msgs : sensor_msgs/Image
/camera/rgb/image_raw/compressed 211 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw/theora 217 msgs : theora_image_transport/Packet
/camera/rgb/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect 145 msgs : sensor_msgs/Image
/camera/rgb/image_rect/compressed 145 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_rect/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect/theora 148 msgs : theora_image_transport/Packet
/camera/rgb/image_rect/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color 144 msgs : sensor_msgs/Image
/camera/rgb/image_rect_color/compressed 144 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_rect_color/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color/theora 147 msgs : theora_image_transport/Packet
/camera/rgb/image_rect_color/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/rectify_color/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/rectify_color/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/rectify_mono/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/rectify_mono/parameter_updates 1 msg : dynamic_reconfigure/Config
/rosout 1652 msgs : rosgraph_msgs/Log (9 connections)
/rosout_agg 1601 msgs : rosgraph_msgs/Log
/scan 299 msgs :
sensor_msgs/LaserScan
出力されてるトピックが多すぎる
ちなみに、
チュートリアル(http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData)通りにやったら、
$ rosbag record -O /base_scan /tf
[ INFO] [1371106411.969590801]: Subscribing to /tf
[ERROR] [1371106411.989712154]: Error writing: Error opening file: /base_scan.bag.active
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