python Cyber_record 包

1. 查看record文件的统计信息

cyber_record info -f 20231101211111.record.00005
c
record_file: 20231101211111.record.00005
version:     1.0
begin_time:  2023-11-01 21:13:48.099650
end_time:    2023-11-01 21:14:19.267622
duration:    31.17 s
size:        2.00 GByte
message_number: 5171
channel_number: 8

/apollo/sensor/gnss/raw_data          , apollo.drivers.gnss.RawData           , 2364
/tf_static                            , apollo.transform.TransformStampeds    , 0
/apollo/sensor/gnss/gnss_value        , apollo.drivers.gnss.Gnss              , 311
/apollo/sensor/camera/axis_10mm/image , apollo.drivers.Image                  , 312
/apollo/link2cc/cc_gps_info           , apollo.link2cc.CCGpsInfo              , 624
/apollo/link2cc/cc_sensor_info        , apollo.link2cc.SensorInfo             , 624
/apollo/sensor/iv_points_new          , apollo.drivers.PointCloud             , 312
/apollo/link2cc/cc_base_info          , apollo.link2cc.CCBaseInfo             , 624

2. Echo

通过cyber_record echo打印指定topic的消息到命令行

cyber_record echo -f 20231101200320.record.00000 -t /apollo/link2cc/cc_base_info

3 录制数据

 rosbag record -o microstrain.bag /imu/data output