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ros bag file logging and analysis -凯发k8网页登录

import, visualize and analyze ros bag and ros 2 bag files

the message data in ros topics are stored in log files called ros bag files or rosbags. you can use matlab® functions, apps and simulink® blocks to access, filter and execute offline analysis of ros data in these rosbag files. these bags are often created by subscribing to one or more ros topics, and storing the received message data in an efficient file structure. for an example of working with rosbags, see .

ros toolbox also allows access to the message data in ros 2 bag files or ros2bags. you can filter the ros 2 data and execute offline analysis in these ros2bag files.

use to extract message data from a rosbag and to create a rosbag log file and write logs to it. you can also use the ros logger app to record ros messages during simulink simulation. for more information, see use ros logger app to save ros messages from simulink.

to extract massage data from a ros2bag log file, use the object. to write logs to a ros2bag log file, use the object. you can also record ros 2 messages during a simulink simulation by using the ros 2 logger app. for more information, see .

to visualize the messages in a ros bag log file, use ros bag viewer app.

apps

ros bag viewervisualize messages in ros bag file

functions

open and parse rosbag log file
read messages from rosbag
access rosbag log file information
create and write logs to rosbag log file
write logs to rosbag log file
select subset of messages in rosbag
create time series object for selected message properties
object for storing rosbag selection
access ros 2 bag log file information
read messages from ros2bagreader object
select subset of messages in ros2bagreader
create and write logs to ros 2 bag log file
write logs to ros 2 bag log file
remove ros2bagwriter object from memory

blocks

play back data from log file

topics

ros bag logging in matlab


  • summary of the structure of rosbags and the workflow for selecting subsets of messages in a rosbag.

  • load a rosbag, and learn how to select and retrieve the contained messages.

ros and ros 2 bag logging in simulink


  • save ros message data from simulink to a rosbag file.

  • save ros 2 message data from simulink to a ros2bag file.

ros bag file analysis


  • the ros bag viewer app enables you to load a ros bag file into matlab and visualize all the message content in the bag file.

    • step 1:
    • step 2:
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