使用rosbag记录openni2_launch消息

首先看教程

http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback

http://wiki.ros.org/Bags

http://wiki.ros.org/rosbag/Commandline

如何记录tf

https://answers.ros.org/question/189776/created-tf-listener-how-to-rosbag/

如何解压缩

<launch>
    <arg name="sensor_name"/>

    <group ns="/spencer/sensors/$(arg sensor_name)">
        <node name="republish_rgb"   pkg="image_transport" type="republish" args="compressed in:=rgb_recorded/image_color raw out:=rgb/image_raw"/>
        <node name="republish_depth" pkg="image_transport" type="republish" args="compressedDepth in:=depth_recorded/image_raw raw out:=depth/image_raw"/>
    </group>

</launch>

　　首先找一个能够不用sudo的文件夹rosbag会在这个文件夹创建bag文件