Hi all, I'm using the **prosilica_driver node** to access images from my camera (AVT Manta G235B) in **ROS indigo** running under **Ubuntu 14.04**. The problem I'm experiencing is twofold - First, a **lower framerate** (about **10 Hz** according to rostopic hz) than the expected one (**50 Hz** from datasheet and about 50 Hz tested on Windows with the camera provider software). - Second, **Rosbag** (via rqt_bag) is complaining like that when I try to **log the camera frame** [INFO] [WallTime: 1411548138.205121] Recording to /home/ragingbit/test_2014-09-24-10-42-18.bag. Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_widget.py", line 235, in _handle_record_clicked self._timeline.record_bag(record_filename) File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_timeline.py", line 643, in record_bag self.add_bag(self._recorder.bag) File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_timeline.py", line 167, in add_bag self._timeline_frame.reset_timeline() File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/timeline_frame.py", line 916, in reset_timeline self.emit_play_region() File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/timeline_frame.py", line 256, in emit_play_region self.scene().selected_region_changed.emit(*self.play_region) TypeError: BagTimeline.selected_region_changed[Time, Time].emit(): argument 1 has unexpected type 'NoneType' Any help is really appreciated! :)

I'm running `octomap_mapping` on my robot, and also want to record data for post processing. The data mostly includes `/tf` messages and `/pointCloud2` data. I running my code on a real robot, so I do wireless ssh into the robot and then record the data on my remote machine. In the middle of recording, rosbag exits after recording 167Mb data and prints "Killed" and exit, leaving a .active file. I have not had this issue before (when I run rosbag on the same computer as running ROS), I was wondering if this is happening because I'm recording data on a remote machine rather than the computer on the robot. Can someone confirm this theory and suggest a solution? Here's a link to someone else having similar issues: [http://ros-users.122217.n3.nabble.com/rosbag-exits-abnormally-td3637291.html](http://ros-users.122217.n3.nabble.com/rosbag-exits-abnormally-td3637291.html) **Edit**: Here is the actual output from remote machine running rosbag command over ssh. This time it didn't crap out at 167Mb, 13Mb instead. I think 167Mb is not even a significant number as this may be just a chunk of data it was trying to store before it exited. terminate called after throwing an instance of 'rosbag::BagIOException' what(): Error writing to file: writing 13571512 bytes, wrote 7480895 bytes Also, here is the kernel log: [13694.190638] wlan0: deauthenticating from d8:67:d9:c2:d0:a0 by local choice (reason=3) [13694.207447] cfg80211: Calling CRDA to update world regulatory domain [13694.216192] cfg80211: World regulatory domain updated: [13694.216198] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [13694.216202] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [13694.216205] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [13694.216208] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [13694.216211] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [13694.216213] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [13695.752099] PM: Syncing filesystems ... done. [13695.982204] PM: Preparing system for mem sleep [13697.548484] Freezing user space processes ... (elapsed 0.002 seconds) done. [13697.550530] Freezing remaining freezable tasks ... (elapsed 0.001 seconds) done. [13697.551847] PM: Entering mem sleep [13697.552000] Suspending console(s) (use no_console_suspend to debug) [13697.552241] sd 0:0:0:0: [sda] Synchronizing SCSI cache [13697.552364] sd 0:0:0:0: [sda] Stopping disk [13698.153598] [drm] Disabling audio 0 support [13698.548633] PM: suspend of devices complete after 995.697 msecs [13698.548815] PM: late suspend of devices complete after 0.179 msecs [13698.564658] pcieport 0000:00:04.0: System wakeup enabled by ACPI [13698.596559] ehci-pci 0000:00:12.2: System wakeup enabled by ACPI [13698.612545] ohci-pci 0000:00:12.0: System wakeup enabled by ACPI [13698.612632] PM: noirq suspend of devices complete after 63.761 msecs [13698.612680] ACPI: Preparing to enter system sleep state S3 [13698.624727] PM: Saving platform NVS memory [13698.628027] Disabling non-boot CPUs ... [13698.628477] Broke affinity for irq 17 [13698.629498] kvm: disabling virtualization on CPU1 [13698.732585] smpboot: CPU 1 is now offline [13698.734239] kvm: disabling virtualization on CPU2 [13698.836674] smpboot: CPU 2 is now offline [13698.837263] Broke affinity for irq 43 [13698.838272] kvm: disabling virtualization on CPU3 [13698.940752] smpboot: CPU 3 is now offline [13698.941416] ACPI: Low-level resume complete [13698.941455] PM: Restoring platform NVS memory [13698.943072] LVT offset 1 assigned for vector 0x400 [13698.943080] IBS: LVT offset 1 assigned [13698.943155] Enabling non-boot CPUs ... [13698.943190] x86: Booting SMP configuration: [13698.943191] smpboot: Booting Node 0 Processor 1 APIC 0x1 [13698.953169] Initializing CPU#1 [13698.954160] kvm: enabling virtualization on CPU1 [13698.956337] process: Switch to broadcast mode on CPU1 [13698.956501] CPU1 is up [13698.956515] smpboot: Booting Node 0 Processor 2 APIC 0x2 [13698.966489] Initializing CPU#2 [13698.967480] kvm: enabling virtualization on CPU2 [13698.969646] process: Switch to broadcast mode on CPU2 [13698.969768] CPU2 is up [13698.969781] smpboot: Booting Node 0 Processor 3 APIC 0x3 [13698.979755] Initializing CPU#3 [13698.980746] kvm: enabling virtualization on CPU3 [13698.982946] process: Switch to broadcast mode on CPU3 [13698.983081] CPU3 is up [13698.984375] ACPI: Waking up from system sleep state S3 [13698.984833] ohci-pci 0000:00:12.0: System wakeup disabled by ACPI [13698.998808] ehci-pci 0000:00:12.2: System wakeup disabled by ACPI [13699.094971] PM: noirq resume of devices complete after 110.227 msecs [13699.095096] PM: early resume of devices complete after 0.100 msecs [13699.096306] ath: phy0: ASPM enabled: 0x42 [13699.098431] [drm] enabling PCIE gen 2 link speeds, disable with radeon.pcie_gen2=0 [13699.098864] pcieport 0000:00:04.0: System wakeup disabled by ACPI [13699.099724] snd_hda_intel 0000:01:00.1: irq 45 for MSI/MSI-X [13699.143723] [drm] PCIE GART of 1024M enabled (table at 0x0000000000273000). [13699.143816] radeon 0000:01:00.0: WB enabled [13699.143819] radeon 0000:01:00.0: fence driver on ring 0 use gpu addr 0x0000000040000c00 and cpu addr 0xffd54c00 [13699.143821] radeon 0000:01:00.0: fence driver on ring 3 use gpu addr 0x0000000040000c0c and cpu addr 0xffd54c0c [13699.145264] radeon 0000:01:00.0: fence driver on ring 5 use gpu addr 0x0000000000072118 and cpu addr 0xf90b2118 [13699.161560] [drm] ring test on 0 succeeded in 2 usecs [13699.161626] [drm] ring test on 3 succeeded in 1 usecs [13699.294993] usb 2-1: reset high-speed USB device number 2 using ehci-pci [13699.348119] [drm] ring test on 5 succeeded in 2 usecs [13699.348126] [drm] UVD initialized successfully. [13699.348127] [drm] Enabling audio 0 support [13699.348205] HDMI ATI/AMD: no speaker allocation for ELD [13699.348217] [drm] ib test on ring 0 succeeded in 0 usecs [13699.348296] [drm] ib test on ring 3 succeeded in 1 usecs [13699.500173] [drm] ib test on ring 5 succeeded [13699.591259] ata2: SATA link up 1.5 Gbps (SStatus 113 SControl 300) [13699.595455] ata2.00: configured for UDMA/100 [13699.647347] HDMI ATI/AMD: no speaker allocation for ELD [13699.947597] HDMI ATI/AMD: no speaker allocation for ELD [13700.247838] HDMI ATI/AMD: no speaker allocation for ELD [13700.548079] HDMI ATI/AMD: no speaker allocation for ELD [13700.720150] psmouse serio1: elantech: retrying ps2 command 0xe6 (2). [13700.848329] HDMI ATI/AMD: no speaker allocation for ELD [13701.148571] HDMI ATI/AMD: no speaker allocation for ELD [13701.234167] psmouse serio1: elantech: retrying ps2 command 0xf8 (2). [13701.272622] ata1: SATA link up 3.0 Gbps (SStatus 123 SControl 300) [13701.282584] ata1.00: configured for UDMA/133 [13701.296711] sd 0:0:0:0: [sda] Starting disk [13701.336912] PM: resume of devices complete after 2239.987 msecs [13701.337122] PM: Finishing wakeup. [13701.337124] Restarting tasks ... done. [13701.448818] HDMI ATI/AMD: no speaker allocation for ELD [13701.749079] HDMI ATI/AMD: no speaker allocation for ELD [13701.781237] video LNXVIDEO:01: Restoring backlight state [13701.937270] psmouse serio1: elantech: retrying ps2 command 0xf8 (1). [13702.118638] tg3 0000:02:00.0: irq 46 for MSI/MSI-X [13702.129732] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready [13702.174361] IPv6: ADDRCONF(NETDEV_UP): wlan0: link is not ready [13703.100176] wlan0: authenticate with 80:1f:02:d4:b5:44 [13703.119419] wlan0: send auth to 80:1f:02:d4:b5:44 (try 1/3) [13703.121364] wlan0: authenticated [13703.122077] wlan0: associate with 80:1f:02:d4:b5:44 (try 1/3) [13703.138624] wlan0: RX AssocResp from 80:1f:02:d4:b5:44 (capab=0x411 status=0 aid=4) [13703.138683] wlan0: associated [13703.138727] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready [16080.871636] cfg80211: Calling CRDA to update world regulatory domain [16080.881217] cfg80211: World regulatory domain updated: [16080.881222] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [16080.881225] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16080.881228] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16080.881230] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [16080.881232] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16080.881234] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16081.799974] wlan0: authenticate with 80:1f:02:d4:b5:44 [16081.826605] wlan0: send auth to 80:1f:02:d4:b5:44 (try 1/3) [16081.828658] wlan0: authenticated [16081.830578] wlan0: associate with 80:1f:02:d4:b5:44 (try 1/3) [16081.847145] wlan0: RX AssocResp from 80:1f:02:d4:b5:44 (capab=0x411 status=0 aid=4) [16081.847234] wlan0: associated [16810.385376] wlan0: deauthenticating from 80:1f:02:d4:b5:44 by local choice (reason=3) [16810.398778] cfg80211: Calling CRDA to update world regulatory domain [16810.405462] cfg80211: World regulatory domain updated: [16810.405468] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [16810.405471] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16810.405473] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16810.405475] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [16810.405477] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16810.405479] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16813.332870] PM: Syncing filesystems ... done. [16813.542431] PM: Preparing system for mem sleep [16813.968246] Freezing user space processes ... (elapsed 0.002 seconds) done. [16813.970383] Freezing remaining freezable tasks ... (elapsed 0.001 seconds) done. [16813.971685] PM: Entering mem sleep [16813.971838] Suspending console(s) (use no_console_suspend to debug) [16813.972084] sd 0:0:0:0: [sda] Synchronizing SCSI cache [16813.972207] sd 0:0:0:0: [sda] Stopping disk [16814.534973] [drm] Disabling audio 0 support [16814.878899] PM: suspend of devices complete after 906.198 msecs [16814.879079] PM: late suspend of devices complete after 0.177 msecs [16814.894785] pcieport 0000:00:04.0: System wakeup enabled by ACPI [16814.926798] ehci-pci 0000:00:12.2: System wakeup enabled by ACPI [16814.942812] ohci-pci 0000:00:12.0: System wakeup enabled by ACPI [16814.942897] PM: noirq suspend of devices complete after 63.762 msecs [16814.942943] ACPI: Preparing to enter system sleep state S3 [16814.962892] PM: Saving platform NVS memory [16814.966252] Disabling non-boot CPUs ... [16814.967586] kvm: disabling virtualization on CPU1 [16814.967612] smpboot: CPU 1 is now offline [16814.968117] Broke affinity for irq 17 [16814.969139] kvm: disabling virtualization on CPU2 [16815.070826] smpboot: CPU 2 is now offline [16815.072326] kvm: disabling virtualization on CPU3 [16815.174903] smpboot: CPU 3 is now offline [16815.175502] ACPI: Low-level resume complete [16815.175541] PM: Restoring platform NVS memory [16815.177180] LVT offset 1 assigned for vector 0x400 [16815.177187] IBS: LVT offset 1 assigned [16815.177243] Enabling non-boot CPUs ... [16815.177278] x86: Booting SMP configuration: [16815.177280] smpboot: Booting Node 0 Processor 1 APIC 0x1 [16815.187258] Initializing CPU#1 [16815.188249] kvm: enabling virtualization on CPU1 [16815.190435] process: Switch to broadcast mode on CPU1 [16815.190603] CPU1 is up [16815.190617] smpboot: Booting Node 0 Processor 2 APIC 0x2 [16815.200591] Initializing CPU#2 [16815.201582] kvm: enabling virtualization on CPU2 [16815.203747] process: Switch to broadcast mode on CPU2 [16815.203866] CPU2 is up [16815.203878] smpboot: Booting Node 0 Processor 3 APIC 0x3 [16815.213852] Initializing CPU#3 [16815.214844] kvm: enabling virtualization on CPU3 [16815.217014] process: Switch to broadcast mode on CPU3 [16815.217139] CPU3 is up [16815.218442] ACPI: Waking up from system sleep state S3 [16815.218900] ohci-pci 0000:00:12.0: System wakeup disabled by ACPI [16815.233003] ehci-pci 0000:00:12.2: System wakeup disabled by ACPI [16815.329171] PM: noirq resume of devices complete after 110.359 msecs [16815.329295] PM: early resume of devices complete after 0.099 msecs [16815.332649] [drm] enabling PCIE gen 2 link speeds, disable with radeon.pcie_gen2=0 [16815.333029] pcieport 0000:00:04.0: System wakeup disabled by ACPI [16815.333155] snd_hda_intel 0000:01:00.1: irq 45 for MSI/MSI-X [16815.334093] ath: phy0: ASPM enabled: 0x42 [16815.338809] [drm] PCIE GART of 1024M enabled (table at 0x0000000000273000). [16815.338902] radeon 0000:01:00.0: WB enabled [16815.338905] radeon 0000:01:00.0: fence driver on ring 0 use gpu addr 0x0000000040000c00 and cpu addr 0xffd54c00 [16815.338907] radeon 0000:01:00.0: fence driver on ring 3 use gpu addr 0x0000000040000c0c and cpu addr 0xffd54c0c [16815.340350] radeon 0000:01:00.0: fence driver on ring 5 use gpu addr 0x0000000000072118 and cpu addr 0xf90b2118 [16815.356647] [drm] ring test on 0 succeeded in 2 usecs [16815.356713] [drm] ring test on 3 succeeded in 1 usecs [16815.525208] usb 2-1: reset high-speed USB device number 2 using ehci-pci [16815.543206] [drm] ring test on 5 succeeded in 2 usecs [16815.543213] [drm] UVD initialized successfully. [16815.543215] [drm] Enabling audio 0 support [16815.543314] [drm] ib test on ring 0 succeeded in 0 usecs [16815.543316] HDMI ATI/AMD: no speaker allocation for ELD [16815.543392] [drm] ib test on ring 3 succeeded in 1 usecs [16815.695326] [drm] ib test on ring 5 succeeded [16815.825465] ata2: SATA link up 1.5 Gbps (SStatus 113 SControl 300) [16815.829661] ata2.00: configured for UDMA/100 [16815.841527] HDMI ATI/AMD: no speaker allocation for ELD [16816.141787] HDMI ATI/AMD: no speaker allocation for ELD [16816.442023] HDMI ATI/AMD: no speaker allocation for ELD [16816.742260] HDMI ATI/AMD: no speaker allocation for ELD [16816.954352] psmouse serio1: elantech: retrying ps2 command 0xe6 (2). [16817.042507] HDMI ATI/AMD: no speaker allocation for ELD [16817.342761] HDMI ATI/AMD: no speaker allocation for ELD [16817.469261] psmouse serio1: elantech: retrying ps2 command 0xf8 (2). [16817.506809] ata1: SATA link up 3.0 Gbps (SStatus 123 SControl 300) [16817.514809] ata1.00: configured for UDMA/133 [16817.530902] sd 0:0:0:0: [sda] Starting disk [16817.579121] PM: resume of devices complete after 2247.991 msecs [16817.579331] PM: Finishing wakeup. [16817.579332] Restarting tasks ... done. [16817.642887] HDMI ATI/AMD: no speaker allocation for ELD [16817.943241] HDMI ATI/AMD: no speaker allocation for ELD [16818.175355] psmouse serio1: elantech: retrying ps2 command 0xf8 (1). [16818.455819] video LNXVIDEO:01: Restoring backlight state [16818.805212] init: anacron main process (20415) killed by TERM signal [16819.019324] tg3 0000:02:00.0: irq 46 for MSI/MSI-X [16819.031026] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready [16819.076297] IPv6: ADDRCONF(NETDEV_UP): wlan0: link is not ready [16820.822092] wlan0: authenticate with d8:67:d9:c2:d0:a0 [16820.849096] wlan0: send auth to d8:67:d9:c2:d0:a0 (try 1/3) [16820.853845] wlan0: authenticated [16820.857558] wlan0: associate with d8:67:d9:c2:d0:a0 (try 1/3) [16820.861319] wlan0: RX AssocResp from d8:67:d9:c2:d0:a0 (capab=0x411 status=0 aid=10) [16820.861372] wlan0: associated [16820.861384] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready [16820.862499] cfg80211: Calling CRDA for country: US [16820.866506] ath: EEPROM regdomain: 0x8348 [16820.866511] ath: EEPROM indicates we should expect a country code [16820.866513] ath: doing EEPROM country->regdmn map search [16820.866515] ath: country maps to regdmn code: 0x3a [16820.866517] ath: Country alpha2 being used: US [16820.866518] ath: Regpair used: 0x3a [16820.866521] ath: regdomain 0x8348 dynamically updated by country IE [16820.866546] cfg80211: Regulatory domain changed to country: US [16820.866548] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [16820.866550] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2700 mBm) [16820.866553] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 1700 mBm) [16820.866554] cfg80211: (5250000 KHz - 5330000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.866556] cfg80211: (5490000 KHz - 5600000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.866558] cfg80211: (5650000 KHz - 5710000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.866560] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 3000 mBm) [16820.866562] cfg80211: (57240000 KHz - 63720000 KHz @ 2160000 KHz), (N/A, 4000 mBm) [16820.882686] wlan0: deauthenticating from d8:67:d9:c2:d0:a0 by local choice (reason=2) [16820.895623] cfg80211: Calling CRDA to update world regulatory domain [16820.896967] wlan0: authenticate with d8:67:d9:c2:d0:a0 [16820.916484] wlan0: send auth to d8:67:d9:c2:d0:a0 (try 1/3) [16820.916908] cfg80211: World regulatory domain updated: [16820.916920] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [16820.916928] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.916935] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.916940] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [16820.916945] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.916950] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.921333] wlan0: authenticated [16820.925568] wlan0: associate with d8:67:d9:c2:d0:a0 (try 1/3) [16820.929885] wlan0: RX AssocResp from d8:67:d9:c2:d0:a0 (capab=0x411 status=0 aid=10) [16820.929944] wlan0: associated [16820.930026] cfg80211: Calling CRDA for country: US [16820.933162] ath: EEPROM regdomain: 0x8348 [16820.933166] ath: EEPROM indicates we should expect a country code [16820.933169] ath: doing EEPROM country->regdmn map search [16820.933171] ath: country maps to regdmn code: 0x3a [16820.933173] ath: Country alpha2 being used: US [16820.933174] ath: Regpair used: 0x3a [16820.933176] ath: regdomain 0x8348 dynamically updated by country IE [16820.933202] cfg80211: Regulatory domain changed to country: US [16820.933204] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [16820.933206] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2700 mBm) [16820.933208] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 1700 mBm) [16820.933210] cfg80211: (5250000 KHz - 5330000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.933212] cfg80211: (5490000 KHz - 5600000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.933214] cfg80211: (5650000 KHz - 5710000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [16820.933216] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 3000 mBm) [16820.933217] cfg80211: (57240000 KHz - 63720000 KHz @ 2160000 KHz), (N/A, 4000 mBm) [17495.198789] [sched_delayed] \x014CE: hpet increased min_delta_ns to 20115 nsec [17515.853406] usb 3-3: new full-speed USB device number 2 using ohci-pci [17516.030579] usb 3-3: New USB device found, idVendor=045e, idProduct=028e [17516.030586] usb 3-3: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [17516.030589] usb 3-3: Product: Controller [17516.030592] usb 3-3: Manufacturer: \xffffffc2\xffffffa9\xffffffa9Microsoft Corporation [17516.030594] usb 3-3: SerialNumber: 2162D9B [17516.103789] input: Microsoft X-Box 360 pad as /devices/pci0000:00/0000:00:12.0/usb3/3-3/3-3:1.0/input/input14 [17516.106815] usbcore: registered new interface driver xpad [17519.781091] usb 3-3: USB disconnect, device number 2 [17616.643903] wlan0: authenticate with d8:67:d9:c2:d3:18 [17616.665004] wlan0: send auth to d8:67:d9:c2:d3:18 (try 1/3) [17616.665262] cfg80211: Calling CRDA to update world regulatory domain [17616.668712] wlan0: authenticated [17616.669781] wlan0: associate with d8:67:d9:c2:d3:18 (try 1/3) [17616.679578] wlan0: RX AssocResp from d8:67:d9:c2:d3:18 (capab=0x411 status=0 aid=4) [17616.679659] wlan0: associated [17616.763350] cfg80211: World regulatory domain updated: [17616.763355] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [17616.763359] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.763361] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.763363] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [17616.763365] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.763367] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.763736] cfg80211: Calling CRDA for country: US [17616.766417] ath: EEPROM regdomain: 0x8348 [17616.766421] ath: EEPROM indicates we should expect a country code [17616.766424] ath: doing EEPROM country->regdmn map search [17616.766426] ath: country maps to regdmn code: 0x3a [17616.766427] ath: Country alpha2 being used: US [17616.766429] ath: Regpair used: 0x3a [17616.766431] ath: regdomain 0x8348 dynamically updated by country IE [17616.766457] cfg80211: Regulatory domain changed to country: US [17616.766459] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [17616.766461] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2700 mBm) [17616.766463] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 1700 mBm) [17616.766465] cfg80211: (5250000 KHz - 5330000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.766467] cfg80211: (5490000 KHz - 5600000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.766469] cfg80211: (5650000 KHz - 5710000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [17616.766470] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 3000 mBm) [17616.766472] cfg80211: (57240000 KHz - 63720000 KHz @ 2160000 KHz), (N/A, 4000 mBm) [18142.807543] show_signal_msg: 123 callbacks suppressed [18142.807554] rviz[23963]: segfault at 3f800000 ip 3f800000 sp bfa76c6c error 14 in SYSV00000000 (deleted)[a281a000+fa000] [18217.146489] wlan0: authenticate with d8:67:d9:c2:d0:a0 [18217.165644] wlan0: send auth to d8:67:d9:c2:d0:a0 (try 1/3) [18217.165763] cfg80211: Calling CRDA to update world regulatory domain [18217.169805] wlan0: authenticated [18217.171360] wlan0: associate with d8:67:d9:c2:d0:a0 (try 1/3) [18217.171787] cfg80211: World regulatory domain updated: [18217.171792] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [18217.171794] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.171797] cfg80211: (2457000 KHz - 2482000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.171799] cfg80211: (2474000 KHz - 2494000 KHz @ 20000 KHz), (300 mBi, 2000 mBm) [18217.171801] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.171802] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.175336] wlan0: RX AssocResp from d8:67:d9:c2:d0:a0 (capab=0x411 status=0 aid=5) [18217.175399] wlan0: associated [18217.175708] cfg80211: Calling CRDA for country: US [18217.179545] ath: EEPROM regdomain: 0x8348 [18217.179550] ath: EEPROM indicates we should expect a country code [18217.179553] ath: doing EEPROM country->regdmn map search [18217.179555] ath: country maps to regdmn code: 0x3a [18217.179557] ath: Country alpha2 being used: US [18217.179559] ath: Regpair used: 0x3a [18217.179561] ath: regdomain 0x8348 dynamically updated by country IE [18217.179587] cfg80211: Regulatory domain changed to country: US [18217.179589] cfg80211: (start_freq - end_freq @ bandwidth), (max_antenna_gain, max_eirp) [18217.179591] cfg80211: (2402000 KHz - 2472000 KHz @ 40000 KHz), (300 mBi, 2700 mBm) [18217.179594] cfg80211: (5170000 KHz - 5250000 KHz @ 40000 KHz), (300 mBi, 1700 mBm) [18217.179596] cfg80211: (5250000 KHz - 5330000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.179598] cfg80211: (5490000 KHz - 5600000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.179600] cfg80211: (5650000 KHz - 5710000 KHz @ 40000 KHz), (300 mBi, 2000 mBm) [18217.179602] cfg80211: (5735000 KHz - 5835000 KHz @ 40000 KHz), (300 mBi, 3000 mBm) [18217.179604] cfg80211: (57240000 KHz - 63720000 KHz @ 2160000 KHz), (N/A, 4000 mBm) [18545.193209] type=1400 audit(1412184066.598:74): apparmor="STATUS" operation="profile_replace" profile="unconfined" name="/usr/lib/cups/backend/cups-pdf" pid=26205 comm="apparmor_parser" [18545.193225] type=1400 audit(1412184066.598:75): apparmor="STATUS" operation="profile_replace" profile="unconfined" name="/usr/sbin/cupsd" pid=26205 comm="apparmor_parser" [18545.194058] type=1400 audit(1412184066.602:76): apparmor="STATUS" operation="profile_replace" profile="unconfined" name="/usr/sbin/cupsd" pid=26205 comm="apparmor_parser"

Hello everyone, I know I've seen that question somewhere but I can't seem to find it again. I would like to know if there is somewhere I can download rosbags. Like a database of rosbag available for free. It could be a very handy thing. Like for now I'm stuck without a camera and I'm searching for a rosbag of an Xtion looking at an object. I'm pretty someone else already have done this. If there isn't, does someone have rosbag of this type I could possibly use ? Thanks a lot !

I have a bag file containing lots of sensor messages, including compressed camera images. I would like to use this stream of camera images in MATLAB. I know of two possible approaches: either by exporting all images to JPG and load those into MATLAB, or by using [ROSMATLAB](http://www.mathworks.nl/hardware-support/robot-operating-system.html). I think that the first approach would involve creating a Python script to collect the camera images form the `image_transport` node `republish`. This seems to involve an awful lot of decompressing and compressing (when saving back to JPG), so I'm looking for a way to directly collect the images from the bag file and save those. I believe that the compressed images in the bag file are JPG compressed, so it should be possible to directly map them. The second approach would also involve the `republish` node, I think, since ROSMATLAB does not yet seem to support image transport. Also, I've run into problems collecting the images on the subscriber. I've seen [this](https://groups.google.com/d/msg/ros-sig-matlab/y8xaZ_OWNlM/Vj2CKvc7O0QJ) great tutorial on creating an image publisher, but I found it hard to reverse it. I've also seen [this](http://answers.ros.org/question/164831/depth-image-stream-from-kinect-in-matlab-with-ros-io-package/) question on ROS answers, which does a good job showing some of the basics, but I couldn't replicate it. Long story short: can anyone provide a best practice to manage images from a rosbag in MATLAB?

I am trying to use `octomap_server` (`octomap_mapping.launch` file) for building a 3D map using point cloud data from velodyne. So i drive my robot around, record all sensor data for `octomap_server` to post process it on my desktop. I really want to play the rosag at slower rate so that I can get a better 3D map, but unfortunately the slower I run the rosbag more I get the following error (process has died, exit code -6): terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc Once this error occurs, I have to restart `octomap_server` and then I loose the previously saved 3D map. If I play my `rosbag` at more than 2x speed, then `octomap_server` doesn't fail but I don't get a good 3D map. Does someone have anything on why am I getting this error? Also, sometimes the following error pops up, I don't know what that means but it doesn't seem to effect octomap processing. Can someone throw some light on this too. [ERROR] [1412812984.342799452]: Error serializing OctoMap

I want to extract depth image from .bag file just like [the tutorial](http://answers.ros.org/question/9652/extracting-images-from-rosbag/). But when I run `$ roslaunch export.launch` , the error occurred as below: SUMMARY ======== PARAMETERS * /rosdistro * /rosversion NODES / extract (image_view/extract_images) rosbag (rosbag/play) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[rosbag-1]: started with pid [9394] process[extract-2]: started with pid [9405] [ INFO] [1413444044.771603283]: Initialized sec per frame to 0.100000 [ERROR] [1413444046.270973202]: Client [/extract] wants topic /camera/depth/disparity to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [stereo_msgs/DisparityImage/04a177815f75271039fa21f16acad8c9]. Dropping connection. pls help me to resolve it.Thanks.

Hi All, I have gathered data using `rosbag`, but listing topics from it and extracting data from it is *extremely* slow. It takes over an hour to process a `.bag` file that is 180 MB in size and contains 47 data streams, with output file sizes ranging from 330 bytes to 23 MB. It's operating principle is similar to the answer by user `x75` in a [closely related question](http://answers.ros.org/question/9102/how-to-extract-data-from-bag/). Is there anything I can do to improve the parsing speed? My guess is that it is going through the file in full each time, whereas in reality I could save and reuse information from the `.bag` file in the first pass so I don't have to re-read the whole file every time I extract topic data from it. #!/usr/bin/env bash bagfile="${1##*/}" bagfile="${bagfile%.*}" # Create the output directory. mkdir -p $bagfile topic_list_orig=`rostopic list -b $1` topic_list=$(echo "$topic_list_orig" | sort) for topic in $topic_list do outfname="$bagfile/${topic//\//_}.csv" echo "Writing CSV data from topic" $topic "to file" $outfname # Check if file exists. If file exists, do not write to it. if [ -e $outfname ] then echo "File" $outfname "already exists. Taking no action" else # Create a temporary file tmpfile=`mktemp` echo $tmpfile rostopic echo -p -b $1 $topic > $tmpfile # Copy temp file into the final file. mv $tmpfile $outfname fi done ##### END OF FILE #####

This worked in Hydro but appears to be broken in Indigo perhaps. I'm recording a robot experiment using rosbag record /tf /tf_static /camera/depth_registered/points /robot/joint_states -O trial1.bag Then I play it back with rosbag play --clock -r 0.1 trial1.bag But in MoveIt! I get the tf error: WARN ros.moveit_ros_planning: Unable to transform object from frame 'camera_depth_optical_frame' to planning frame '/base' (Lookup would require extrapolation into the past. Requested time 1414097890.120901958 but the earliest data is at time 1414097890.730995187, when looking up transform from frame [camera_depth_optical_frame] to frame [base]) **But the error goes away** if I use a ``-r 1`` instead of ``-r 0.1`` - meaning if I run it in regular time it works fine. I tried setting rosparam set use_sim_time true But that doesn't seem to do anything. Also, I converted the tf tree to pdf and everything looks correct. So I have some kind of timing error....

Consider the following peace of code: for (rosbag::View::iterator m=view.begin(); m!=view.end(); m++){ m->write(stream); } Where `stream` is a variable of type `rosbag::Stream`. When I run the code I get the error: In file included from *.cpp:6:0: /opt/ros/indigo/include/rosbag/bag.h: In instantiation of ‘void rosbag::Bag::readMessageDataIntoStream(const rosbag::IndexEntry&, Stream&) const [with Stream = rosbag::BZ2Stream]’: /opt/ros/indigo/include/rosbag/message_instance.h:170:5: required from ‘void rosbag::MessageInstance::write(Stream&) const [with Stream = rosbag::BZ2Stream]’ *.cpp:194:21: required from here /opt/ros/indigo/include/rosbag/bag.h:367:118: error: ‘class rosbag::BZ2Stream’ has no member named ‘advance’ memcpy(stream.advance(data_size), current_buffer_->getData() + index_entry.offset + bytes_read, data_size); As you can see, internally ros library tries to call a method named `.advance()` on type `rosbag::Stream`. Now if we check the class reference for [`rosbag::Stream`](http://docs.ros.org/diamondback/api/rosbag/html/c++/classrosbag_1_1Stream.html) we can see that there is no method named `advance()` but rather `advanceOffset(uint64_t nbytes)` which looks like exactly what the library tries to call internally (at least the signature implies that this is what the library needs) None of the derived classes [`rosbag::UncompressedStream`](http://docs.ros.org/diamondback/api/rosbag/html/c++/classrosbag_1_1UncompressedStream.html) nor [`rosbag::BZ2Stream`](http://docs.ros.org/diamondback/api/rosbag/html/c++/classrosbag_1_1BZ2Stream.html) have a method named `advance()`. Why do I get the above mentioned error and how can I fix it?

Hello! I was wondering whether with the Python module rosbag there is any chance to get the number of recorded messages in one topic. The Bag.read_messages method returns a generator and of course I could iterate over all messages and count. But is there a way to tell the number in advance? That way I could preallocate the right amount of lists to handle the messages. Thank you!

I have a setup with a differential robot rolling in a simple environment. The robot is controlled by a ROS node and is simulated in Gazebo. I am looking for a way to record the actual trajectory of the robot in the simulator and to be able to replay the same trajectory later. I have already tried multiple solutions, but none of them worked well: - rosbag record /tf -O tf.bag => rosbag play tf.bag -- Doesn't work at all : robot don't moves - rosbag record /gazebo/model_states -O gms.bag => rosbag play gms.bag /gazebo/model_states:=/gazebo/set_model_state -- Error message concerning the data type - rosbag record /cmd_vel -O vel.bag => rosbag play vel.bag -- Record the commands sent to the robot controller, not the actual pose. So in the playback, the trajectory can be slightly different which is a problem for my application. Is there any other way to record and replay a reference trajectory ?

Indigo, Linux Mint 17 I'm using the commandline rosbag utility to record various topics. I have two topics /topic1 and /topic2. Topic1 is published before Topic2, like so: if state==new_state: publish_topic_1() publish_topic_2(state) So topic1 publishes when we are in the new_state and topic2 just publishes the state, whatever it happens to be. After recording I inspect the bag with rqt_bag. I expect to see topic1 always preceding topic2 switching from another state to "new_state". However, this is not what I see. I often will see topic2 transition to "new_state" before topic1 appears. If I explicitly add a sleep statement after publishing topic1 then they appear in the order I expect. So: - What should I expect for timing topics? Should I expect them to be received and recorded in order? My understanding was that rosbag would handle synchronization of all my data streams. - Does adding a Header to each msg type help? - Is everything fine and rqt_bag is just broken? Does it all come to the limitations of record/playback as described here? http://wiki.ros.org/ROS/Tutorials/Recording%20and%20playing%20back%20data#rosbag.2BAC8-Tutorials.2BAC8-Recording_and_playing_back_data.The_limitations_of_rosbag_record.2BAC8-play If so, does anyone have a solution for ensuring accurate timing in a rosbag? Writing it directly myself rather than publishing and letting rosrecord pick it up?

I first set /use_sim_time to true. Then play the ros bag file. My code subscribes the point cloud in the bag. After some processing, my code publishes the processed point cloud. However, the rviz can only display the point cloud in the bag. It can't display the processed point cloud. I guess the processed point cloud use the current time and the rviz use the old time, so the processed point cloud can not be displayed. So, how to publish the processed point cloud using the old bag time?

I first set /use_sim_time to true. Then play the ros bag file. My code subscribe the point cloud in the bag. After some processing, my code publish the processed point cloud. However, the rviz can only display the point cloud in the bag. It can't display the processed point cloud. I guess the processed point cloud use the current time and the rviz use the old time, so the processed point cloud can not be displayed. So, how to publish the processed point cloud using the old bag time?

How to extract data from *.bag? I recorded my odomerty and laser data using rosbag. I want to extract (specific) data stream(text format) from recorded bagfiles. (time, step, odometry[x,y,...], laser data, ...) Becuase my unfinshied project are programed by matlab. Question. 1) How to extract data from *.bag? (using matlab, C/C++ or ROS API...)

Dear all, I have some problems when using `ethzasl_icp_mapper` with playing rosbag file. I followed this [tutorial](http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback) to record some raw rgb and depth data without `tf` information. Then I use `roslaunch openni_launch openni.launch load_driver:=false` and `rosbag play` the bag file to produce RGB-D point cloud on-the-fly. The produced RGB-D point cloud `/camera/depth_registered/points` can be correctly visualized in rviz. I would like to use this produced RGB-D point cloud as the input of the `ethzasl_icp_mapper`. The roslaunch file for `ethzasl_icp_mapper` is as follows, When the bag is palying, errors occur as follows. terminate called after throwing an instance of 'tf2::ConnectivityException' what(): Could not find a connection between 'camera_rgb_optical_frame' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees. I then tried suppress the `tf` topic of `openni_launch` using `roslaunch openni_launch openni.launch load_driver:=false publish_tf:=false`, another error accurs. terminate called after throwing an instance of 'tf2::LookupException' what(): "camera_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. Your help will be appreciated. Thank you.

What tools have people developed and use for rosbag analysis? I know of rqt_bag (which is an absolutely awesome tool), which allows you to browse the topics in a concise timeline, and using that in conjunction with rqt_plot to plot data. However, it's still a little cumbersome to extract data for more detailed analysis. I've created a small package using numpy that will parse a rosbag given a set of topic paths (consisting of fields and optionally indices, much like extracting data for plotting) and return simple multi-variable data sets for ease of plotting and analysis, which includes interpolating data sets so that they are on a time scale (with the same spacing). This allows basic errors to be computed. If you also published the same data, you can use this to potentially see delays between the different publishers. You can always run the conversion, then save the final datasets to Matlab to plot and examine as well. Really easy to do in Spyder. Will upload the package in a bit. EDIT: Googled and saw Pandas from this presentation: https://speakerdeck.com/nzjrs/managing-complex-experiments-automation-and-analysis-using-robot-operating-system Looks interesting, will start looking at this.

When I convert a bagfile (containing depth and RGB data) to picture frames, I get different number of picture frames each time I launch the code given in the tutorial given below and the subsequent video I compile is totally wayward. http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data Please guide me through this

HI everyone i am trying to record my bag with ccny_rgbd packages. for launching the ccny camera driver i used the command: roslaunch ccny_openni_launch openni.launch and for recording the bag: rosbag record -a but i get some error saying: [ERROR] [1418555164.455471398]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [ERROR] [1418555164.455582182]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [ERROR] [1418555164.463128508]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: yuv422). [ERROR] [1418555164.463697565]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8). [ERROR] [1418555164.466261285]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). At the end the bag is recorded but not properly, some seconds are just skipped due to this error. can someone help me to solve this issue? thanks

I converted the RGB data with the help of http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data tutorial. But I am not sure how to do it for converting a raw_depth to depth images. Please guide me through this