- Start the service using the launch file. You also want to pickle the data for easier access later
roslaunch rosbag_recorder rosbag_recorder.launch pickle:=true
- (Note, pickling could take a long time if you’re saving super large amounts of data)
When you run a pick-and-place operation, add the
roslaunch hand_arm pick-place-run-multi.launch traj:=examples/2finger_grid save:=true
This uses the ROS service protocol to record data on the relevant ROS topics (see rosbag_recorder documentation for more detailed description)
If you pickled your data after saving, you can use another set of scripts to plot them. This takes care of sorting through the mess of a dictionary that ROS creates when saving data.
python graph_robot.py ft/up200_11162019_210947