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Version: V2.0.5.1

8.16 Bag Recording Interfaces

8.16.1 Built‑in Recording Method​

You can use the provided launch files to start ROS 2 topic recording and store data in the default path /home/ubuntu/bags.
Recording is split into 100 MB bag files, and the maximum storage capacity for the recording directory is 2 GB. When the limit is exceeded, the oldest folders and bag files are automatically deleted. Applicable to all Walker Tienkung models.

# Record specified topics as configured in:
# /home/ubuntu/ros2ws/install/utils/lib/utils/topics.config
# The default list contains key topics for body control.
ros2 launch utils record_config_topic.py

# Record all topics
ros2 launch utils record_all_topic.py

8.16.2 Generic ROS 2 Recording and Playback​

1. Specify Storage Location and Name​

ros2 bag record -o /home/ubuntu/bag_record/{id} /joint_states
# -o specifies the storage path; {id} can be set as needed
# /joint_states is the topic to be recorded

2. View Recording Information​

ros2 bag info /home/ubuntu/bag_record/{id}
# View bag information

3. Play Back Recorded Data​

Before playback, stop the node that publishes the corresponding topics; otherwise, message conflicts may occur and cause incorrect behavior.

ros2 bag play /home/ubuntu/bag_record/{id}
# Play the recorded data