rosbridge-rosbag-player

A package for playing a rosbag with ROS-services for controlling the playback.

Build docker image

Basic image

$ docker build -t hdwlab/rosbridge-rosbag-player:base-master .

Autoware installed image

$ docker build -t hdwlab/rosbridge-rosbag-player:autoware-master -f Dockerfile.autoware .

Play rosbag

The following command will start a container with rosbridge_websocket, controllable-rosbag-layer and rosbridge-server. Please replace <path to rosbag> with a proper path.

$ docker run -it --rm \
  -p 9090:9090 \
  -v <path to rosbag>:/rosbag.bag:ro \
  hdwlab/rosbridge-rosbag-player:base-master \
  roslaunch /player.launch path_to_rosbag:=/rosbag.bag

A websocket will be available with ws://localhost:9090.
Playback can be controlled via the following ros-services.

Play rosbag

Call ROS-service /rosbag_player_controller/play

Pause rosbag

Call ROS-service /rosbag_player_controller/pause

Seek rosbag

Call ROS-service /rosbag_player_controller/seek <start_time>

Set playback speed

Call ROS-service /rosbag_player_controller/set_playback_speed <speed>