Bags are typically created by a tool like rosbag
They store the serialized message data in a file as it is received
http://pr.willowgarage.com/ 這里可以下載bag
使用bag文件作為靜態輸入的時候，要考慮bag和當前電腦的時間不一致的問題
參考了這篇博客關於時間問題的設置
http://blog.csdn.net/akunainiannian/article/details/44993391
The data stored within bag files is often very valuable, so bag files are also designed to be easily migrated when msg files are updated. The bag file format stores the msg file of the corresponding message data, and tools like rosbagmigration let you write rules to automatically update bag files when they become out of date.
Bag Tools
-
rosbag: unified console tool for recording, playback, and other operations.
-
rqt_bag: graphical tool for visualizing bag file data.
-
rostopic: the echo and list commands are compatible with bag files.