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 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 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.

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.
Load and Play ROS or ROS 2 Bag File
Load and play ROS or ROS 2 bag file in ROS Data Analyzer app.
Control ROS or ROS 2 Bag File Playback
Control playback of ROS or ROS 2 bag file in ROS Data Analyzer app.
Visualize Messages from Live ROS or ROS 2 Topics
Visualize messages from live ROS or ROS 2 topics in ROS Data Analyzer app.

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.

Open Live Script