ROS 2 Bag File Logging and Analysis
ROS Toolbox allows access to the message data in ROS 2 bag files orros2bags. 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. To record data to a ros2bag log file, use the
ros2bagrecorder 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 |
readMessages | Read messages from ros2bagreader object |
select | Select subset of messages in ros2bagreader |
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) |
ros2bagrecorder | Record live topic data from ROS 2 network to bag file (Since R2026a) |
startRecording | Start recording live topic data from ROS 2 network into bag file (Since R2026a) |
pauseRecording | Pause recording live topic data from ROS 2 network without closing bag writer (Since R2026a) |
resumeRecording | Resume recording live topic data from a ROS 2 network after pausing (Since R2026a) |
stopRecording | Stop recording live topic data from ROS 2 network (Since R2026a) |
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.
Featured Examples
Sign-Following Robot with ROS 2 in MATLAB
Control a simulated robot running on a separate ROS-based simulator over ROS 2 network in MATLAB® and generate a ROS 2 node for the control algorithm to deploy it to a remote device.
Sign-Following Robot with ROS 2 in Simulink
Use Simulink to control a simulated robot running on a separate ROS-based simulator over ROS 2 network.
Use ROS 2 Logger App to Save ROS 2 Messages from Simulink
Use ROS 2 Logger app to record ROS 2 messages during Simulink simulation.
Play Back Data from ROS 2 Bag Logfile in Simulink
Use the Read Data block to play back data from a ROS 2 bag file.
Read and Visualize ROS 2 bags in AWS S3 Cloud
Read and visualize ROS 2 bags stored in AWS® S3 cloud using ROS Toolbox and a customized MATLAB reference architecture.
