ROS Log Files and Transformations
ROS topics are stored in log files called rosbags. You can access and filter information from these rosbags in MATLAB®. For an example of working with rosbags, see Work with rosbag Logfiles.
You can access transformations between coordinate systems as ROS topics and use them to transform data in MATLAB. For more information, see Access the tf Transformation Tree in ROS.
object helps control the timing of code execution.
rosbag 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|
ros2bag Log Files
|Transform message entities into target frame|
|Verify if transformation is available|
|Transform message entities into target coordinate frame|
|Wait until a transformation is available|
|Retrieve transformation between two coordinate frames|
|Send transformation to ROS network|
Summary of the structure of rosbags and the workflow for selecting subsets of messages in a rosbag.
A rosbag or bag is a file format in ROS for storing message data.
The tf system in ROS keeps track of multiple coordinate frames and maintains the relationship between them in a tree structure.
rosrate object allows you to control the rate of your
code execution based on the ROS Time
This example shows how to time stamp a ROS message with the current system time of your computer.
This model subscribes to a
Pose message on the ROS network and converts it to a homogeneous transformation.