[glc](https://github.com/nullkey/glc( fork with ROS binding.

You can record rviz by topic interface.

Install

1. add ppa

sudo add-apt-repository ppa:arand/ppa
sudo apt-get update

2. Install libraries

sudo apt-get install libelfhacks-dev libpacketstream-dev libxxf86vm-dev

3. Checkout ros_glc to your workspace

wstool set --git ros_glc https://github.com/garaemon/ros-glc
wstool update ros_glc

4. Compile it

catkin b ros_glc

Capture

Run rviz with glc-capture.

glc-capture rosrun rviz rviz

Start recording by publishing std_msgs/Empty message to /glc_start_capture.

rostopic pub /glc_start_capture std_msgs/Empty

Stop recording by publishing std_msgs/Empty message to /glc_stop_capture.

rostopic pub /glc_stop_capture std_msgs/Empty

And you will get a glc file like rviz-56770-0.glc.

In lauch file

Use launch-prefix attribute.

<node pkg="rviz" type="rviz" ...
      launch-prefix="glc-capture">
      ...

Play back

Use glc-play command.

rosrun ros_glc glc-play rviz-56770-0.glc

Encode

Use glc_encode.sh script.

rosrun ros_glc glc_encode.sh rviz-56770-0.glc