ROS 2 Bag File Logging and Analysis
Import, visualize and analyze ROS 2 bag files
ROS toolbox 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.
To extract message 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 ROS 2 bag log file or view a live ROS 2 topic, use the ROS Data Analyzer app.
Apps
ROS Data Analyzer | Visualize messages from live ROS or ROS 2 topics and bag files (Since R2023a) |
Functions
ros2bagreader | Access ROS 2 bag log file information (Since R2021a) |
readMessages | Read messages from ros2bagreader object (Since R2021a) |
select | Select subset of messages in ros2bagreader (Since R2021a) |
getTransform | Return transformation between two coordinate frames (Since R2023b) |
canTransform | Verify if transformation is available (Since R2023b) |
timetable | Create timetable for selected message properties in ROS 2 bag file (Since R2024a) |
ros2bagwriter | Create and write logs to ROS 2 bag log file (Since R2022b) |
write | Write logs to ROS 2 bag log file (Since R2022b) |
delete | Remove ros2bagwriter object from memory (Since R2022b) |
Blocks
Read Data | Play back data from ROS 2 log file (Since R2021b) |
Topics
Bag File Analysis
- Get Started with ROS Data Analyzer App
Use ROS Data Analyzer app to visualize messages from live ROS or ROS 2 topics and bag files.
Bag Logging in Simulink
- Log ROS 2 Messages from Simulink to ROS 2 Bag File
Save ROS 2 message data from Simulink to a ros2bag file.