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Working with bag files
Jose Sanchez edited this page Jun 8, 2015
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The following instructions describe how to use the slip detector node with bag files.
- Launch the component:
roslaunch slip_detection slip_detector.launch - Play a recorded bag file (sample bag files can be found here), for instance:
rosbag play -l slip_down.bag - Verify that tactile data is being published:
rostopic echo /dsa_controller/tactile_data - Subscribe to the result(s) of the component:
rostopic echo /slip_detection/slip_detector/slip
rostopic echo /slip_detection/slip_detector/event_out - Start the components:
rostopic pub /slip_detection/sdh_tactile_adapter/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/intensity_extractor/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/tactile_flow_extractor/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/slip_detector/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/slip_detector/event_in std_msgs/String "e_stop"