ros2bag录包中断修复yaml配置

文章目录

问题背景简述
[metadata.yaml 信息](#metadata.yaml 信息)
从db3获取信息

问题背景简述

当时在ros2录制包的过程中，由于板子内存限制导致录制提前中断，db3的数据包保存下来了，但是metadata.yaml确实空的，我直接把其他包的yaml复制修改db3包名称后进行使用，bag可以播放但是话题需要等待很长一段时间才出现

metadata.yaml 信息

Bag基本信息

version: 5

storage_identifier: sqlite3

说明：

ROS2 Bag格式版本 = 5

后端存储采用 SQLite3

实际数据保存在：

rosbag2_2026_06_05-03_22_25_0.db3
总消息数

message_count: 5619

整个Bag中共记录：

5619条消息
Topic统计

激光点云

/cx/lslidar_point_cloud

type: sensor_msgs/msg/PointCloud2

message_count: 1256

记录：

1256帧点云

LaserScan

/cx/scan

type: sensor_msgs/msg/LaserScan

message_count: 1256

记录：

1256帧二维激光

相机

/ image_raw

type: sensor_msgs/msg/Image

message_count: 3107

记录：

3107帧图像

从db3获取信息

录制起始结束时间戳和时长

查看命令

bash 复制代码

SELECT
(MAX(timestamp)-MIN(timestamp))/1000000000.0
FROM messages;

终端示例

bash 复制代码

(base) gg@gg:/media/gg/EXTERNAL_USB/ros2bag/rosbag2_2026_06_05-03_22_25$ sqlite3 rosbag2_2026_06_05-03_22_25_0.db3
SQLite version 3.41.2 2023-03-22 11:56:21
Enter ".help" for usage hints.
sqlite> .tables
messages  metadata  schema    topics  
sqlite> SELECT MIN(timestamp),MAX(timestamp)
   ...> FROM messages;
1780600945404366968|1780602252169703608
sqlite> SELECT
(MAX(timestamp)-MIN(timestamp))/1000000000.0
FROM messages;
1306.76533664

录制话题信息数量

查看命令：

bash 复制代码

SELECT t.name,
       MIN(m.timestamp),
       MAX(m.timestamp),
       COUNT(*)
FROM messages m
JOIN topics t
ON m.topic_id=t.id
GROUP BY t.name;

终端示例

bash 复制代码

(base) gg@gg:/media/gg/EXTERNAL_USB/ros2bag/rosbag2_2026_06_05-03_22_25$ sqlite3 rosbag2_2026_06_05-03_22_25_0.db3
SQLite version 3.41.2 2023-03-22 11:56:21
Enter ".help" for usage hints.
sqlite> SELECT t.name,
       MIN(m.timestamp),
       MAX(m.timestamp),
       COUNT(*)
FROM messages m
JOIN topics t
ON m.topic_id=t.id
GROUP BY t.name;

/cx/lslidar_point_cloud|1780600945417126136|1780602252072033272|13068
/cx/scan|1780600945404366968|1780602252072146232|13068
/image_raw|1780600945501671704|1780602252169703608|32350

话题信息数量、时间戳、频率

查看命令：

bash 复制代码

SELECT
t.name,
COUNT(*) AS msg_count,
(MIN(m.timestamp))/1e9 AS start_time,
(MAX(m.timestamp))/1e9 AS end_time,
COUNT(*)*1.0/
((MAX(m.timestamp)-MIN(m.timestamp))/1e9)
AS hz
FROM messages m
JOIN topics t
ON m.topic_id=t.id
GROUP BY t.name;

终端示例

bash 复制代码

sqlite> SELECT
t.name,
COUNT(*) AS msg_count,
(MIN(m.timestamp))/1e9 AS start_time,
(MAX(m.timestamp))/1e9 AS end_time,
COUNT(*)*1.0/
((MAX(m.timestamp)-MIN(m.timestamp))/1e9)
AS hz
FROM messages m
JOIN topics t
ON m.topic_id=t.id
GROUP BY t.name;
/cx/lslidar_point_cloud|13068|1780600945.41713|1780602252.07203|10.0011104145648
/cx/scan|13068|1780600945.40437|1780602252.07215|10.0010118925262
/image_raw|32350|1780600945.50167|1780602252.1697|24.7576271938493