怎么打開demo_3.5.record讀取topic，相信很多沒有經(jīng)驗(yàn)的人對(duì)此束手無策，為此本文總結(jié)了問題出現(xiàn)的原因和解決方法，通過這篇文章希望你能解決這個(gè)問題。

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• 問：如何完成rostopic echo -b .bag -p /topic_name > .txt

• 答：使用cyber_channel echo /channel_name

例子

播放record文件

\[caros@in-dev-docker:/apollo\]$ cyber\_recorder play -lf data/record/demo\_3.5.record
file: data/record/demo\_3.5.record, chunk\_number: 3, begin\_time: 1546888377338834894 (2019-01-08-03:12:57), end\_time: 1546888422886740928 (2019-01-08-03:13:42), message_number: 61615
earliest\_begin\_time: 1546888377338834894, latest\_end\_time: 1546888422886740928, total\_msg\_num: 61615

Please wait 3 second(s) for loading...
Hit Ctrl+C to stop, Space to pause, or 's' to step.

\[RUNNING\] Record Time: 1546888377.433    Progress: 0.094 / 45.
...

顯示channel列表

[caros@in-dev-docker:/apollo]$ cyber_channel list
The number of channels is:  32
/apollo/canbus/chassis
/apollo/canbus/chassis_detail
/apollo/control
/apollo/control/pad
/apollo/drive_event
/apollo/guardian
/apollo/hmi/audio_capture
/apollo/hmi/status
/apollo/localization/msf_gnss
/apollo/localization/msf_lidar
/apollo/localization/msf_status
/apollo/localization/pose
/apollo/monitor
/apollo/monitor/system_status
/apollo/navigation
/apollo/perception/obstacles
/apollo/perception/traffic_light
/apollo/planning
/apollo/prediction
/apollo/routing_request
/apollo/routing_response
/apollo/sensor/gnss/best_pose
/apollo/sensor/gnss/corrected_imu
/apollo/sensor/gnss/gnss_status
/apollo/sensor/gnss/imu
/apollo/sensor/gnss/ins_stat
/apollo/sensor/gnss/odometry
/apollo/sensor/gnss/raw_data
/apollo/sensor/gnss/rtk_eph
/apollo/sensor/gnss/rtk_obs
/tf
/tf_static

顯示channel內(nèi)容

[caros@in-dev-docker:/apollo]$ cyber_channel echo /apollo/sensor/gnss/best_pose
header {
  timestamp_sec: 1545095763.0131655
  module_name: "gnss"
  sequence_num: 3073
}
measurement_time: 1229130981
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415249592584814
longitude: -122.00875424407722
height_msl: 1.23227334395051
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.0124039669
longitude_std_dev: 0.0176792257
height_std_dev: 0.041889634
base_station_id: "0"
differential_age: 1
solution_age: 0
num_sats_tracked: 11
num_sats_in_solution: 9
num_sats_l1: 9
num_sats_multi: 8
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

header {
  timestamp_sec: 1545095764.0130444
  module_name: "gnss"
  sequence_num: 3074
}
measurement_time: 1229130982
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415306110750976
longitude: -122.0087373614388
height_msl: 1.2385389469563961
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.0123673109
longitude_std_dev: 0.0177532453
height_std_dev: 0.0420455635
base_station_id: "0"
differential_age: 1
solution_age: 0
num_sats_tracked: 10
num_sats_in_solution: 8
num_sats_l1: 8
num_sats_multi: 8
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

header {
  timestamp_sec: 1545095765.0112305
  module_name: "gnss"
  sequence_num: 3075
}
measurement_time: 1229130983
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415352879935718
longitude: -122.00872341178777
height_msl: 1.2605287469923496
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.0151290251
longitude_std_dev: 0.020376863
height_std_dev: 0.047324948
base_station_id: "0"
differential_age: 2
solution_age: 0
num_sats_tracked: 14
num_sats_in_solution: 10
num_sats_l1: 10
num_sats_multi: 9
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

header {
  timestamp_sec: 1545095766.0121005
  module_name: "gnss"
  sequence_num: 3076
}
measurement_time: 1229130984
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415389343576692
longitude: -122.00871243535052
height_msl: 1.2862052069976926
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.0137432581
longitude_std_dev: 0.0162601564
height_std_dev: 0.0376244374
base_station_id: "0"
differential_age: 2
solution_age: 0
num_sats_tracked: 15
num_sats_in_solution: 13
num_sats_l1: 13
num_sats_multi: 11
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

header {
  timestamp_sec: 1545095767.0116713
  module_name: "gnss"
  sequence_num: 3077
}
measurement_time: 1229130985
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415416242281566
longitude: -122.00870413589038
height_msl: 1.3115372871980071
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.0126857655
longitude_std_dev: 0.0141515983
height_std_dev: 0.0331060551
base_station_id: "0"
differential_age: 2
solution_age: 0
num_sats_tracked: 16
num_sats_in_solution: 15
num_sats_l1: 15
num_sats_multi: 12
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

header {
  timestamp_sec: 1545095768.0136344
  module_name: "gnss"
  sequence_num: 3078
}
measurement_time: 1229130986
sol_status: SOL_COMPUTED
sol_type: NARROW_INT
latitude: 37.415433198552719
longitude: -122.0086991019575
height_msl: 1.3455344066023827
undulation: -32.1
datum_id: WGS84
latitude_std_dev: 0.00993473455
longitude_std_dev: 0.0119242864
height_std_dev: 0.0302341301
base_station_id: "0"
differential_age: 1
solution_age: 0
num_sats_tracked: 16
num_sats_in_solution: 16
num_sats_l1: 16
num_sats_multi: 13
extended_solution_status: 33
galileo_beidou_used_mask: 0
gps_glonass_used_mask: 51

看完上述內(nèi)容，你們掌握怎么打開demo_3.5.record讀取topic的方法了嗎？如果還想學(xué)到更多技能或想了解更多相關(guān)內(nèi)容，歡迎關(guān)注創(chuàng)新互聯(lián)行業(yè)資訊頻道，感謝各位的閱讀！

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