https://blog.csdn.net/JIEJINQUANIL/article/details/103756185
http://wiki.ros.org/cn/ROS/Tutorials/Recording%20and%20playing%20back%20data
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key
$ mkdir bagfiles && cd bagfiles
$ rosbag record -a # 录 制
$ rosbag info bagfile.bag #查看
$ rosbag play bagfile.bag #回放
$ rosbag record -O result /turtle1/cmd_vel /turtle1/pose
#-O result 最终生成的文件为result.bag
# rosbag record -a 时提示以下信息 解决方案
[ WARN] [1576311065.082263288]: /use_sim_time set to true and no clock published. Still waiting for valid time...
#录制前
$ rosparam set /use_sim_time false
#播放时
$ rosparam set /use_sim_time true
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