I want to build a database that takes each image with its joy and IMU (angles) data, so I need to receive the same number of messages for each topic to have a synchronized data.
I run the below command in order to record RGB images, depth images, joystick commands, and IMU data.
$> rosbag record -O subset /camera/depth/image_raw /camera/rgb/image_raw /joy /mobile_base/sensors/imu_data_raw
then
$> rosbag info subset.bag
which show me the information about my recorded bag file
> path: subset.bag> version: 2.0> duration: 21.9s> start: Mar 11 2018 16:31:17.29 (1520771477.29)> end: Mar 11 2018 16:31:39.20 (1520771499.20)> size: 857.5 MB> messages: 3113> compression: none [605/605 chunks]> types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/Joy [5a9ea5f83505693b71e785041e67a8bb]> topics: /camera/depth/image_raw 652 msgs : sensor_msgs/Image
/camera/rgb/image_raw 540 msgs : sensor_msgs/Image
/joy 991 msgs : sensor_msgs/Joy
/mobile_base/sensors/imu_data_raw 930 msgs : sensor_msgs/Imu
as you see there are a diffrente number of messegas for each topic. So, how can I receive the same number of it?
and one more thing
any help please?
Thanks in advance
↧