Play Back Data from ROS 2 Bag Logfile in Simulink

This example uses:

Open Live Script

Use the Read Data block to play back data from a ROS 2 bag logfile.

Load Model

open_system("read_pose_log.slx");
Warning: While loading an object of class 'ros2bagreader':
The folder path, C:\Users\echakrab\OneDrive - MathWorks\Documents\MATLAB\ExampleManager\echakrab.myBdoc.test\ros-ex06708927\ros2_bag.db3, is invalid or the folder does not exist.

Set Up Model

  1. Open the Read Data block mask to load a ROS 2 bag logfile (.db3) from the working folder.

  2. Click the Load logfile data link.

  3. Browse for the logfile and specify a time offset or limited duration if needed. The ros2_bag.db3 file and the associated metadata.yaml file are attached to this example.

  4. Select the desired topic, /odom which contains nav_msgs/Odometry messages.

  5. The Read Data block outputs the messages from the ROS 2 bag logfile.

  6. A bus selector extracts the xy-position from the nav_msgs/Odometry messages.

Run Model

The block plays back data in sync with the simulation time. The Record plot displays the robot position over time.

sim(gcs)