ROS Bag File Logging and Analysis
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 Work with rosbag Logfiles.
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.
rosbagreader to extract message data from a rosbag and
rosbagwriter 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
ros2bagreader object. To write logs to a ros2bag log file, use the
ros2bagwriter object. You can also record ROS 2 messages during a
Simulink simulation by using the ROS 2 Logger app. For more
information, see Use ROS 2 Logger App to Save ROS 2 Messages from Simulink.
To visualize the messages in a ROS bag log file, use ROS Bag Viewer app.
|ROS Bag Viewer||Visualize messages in ROS bag file|
ROS Bag Log Files
|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|
ROS 2 Bag Log Files
|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|
|Read Data||Play back data from log file|
ROS Bag Logging in MATLAB
- ROS Log Files (rosbags)
Summary of the structure of rosbags and the workflow for selecting subsets of messages in a rosbag.
- Work with rosbag Logfiles
rosbag, and learn how to select and retrieve the contained messages.
ROS and ROS 2 Bag Logging in Simulink
- Log ROS Messages from Simulink to a Rosbag Logfile
Save ROS message data from Simulink to a rosbag file.
- Log ROS 2 Messages from Simulink to a ROS 2 Bag File
Save ROS 2 message data from Simulink to a ros2bag file.
ROS Bag File Analysis
- Get Started with ROS Bag Viewer App
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: Load and Play ROS Bag File
- STEP 2: Control ROS Bag File Playback