roscore rosrun turtlesim turtlesim_node rosrun turtlesim turtle_teleop_key
记录所有的topic
mkdir ~/bagfiles cd ~/bagfiles rosbag record -a
rosbag info <your bagfile>
rosbag play <your bagfile>
rosbag play -r 2 <your bagfile>
rosrun turtlesim turtlesim_node rosrun turtlesim turtle_teleop_key
rosbag record -O subset /turtle1/command_velocity /turtle1/pose
Recording and playing back data
原文：http://blog.csdn.net/dxuehui/article/details/41842575