rosbag-analysis

This repository contains Python scripts for analyzing ROS bag files.

Prerequisites

To use the scripts in this repository, you will need:

• Python 3
• ROS
• Virtualenv

Getting Started

To get started with using the scripts in this repository, follow these steps:

1. Clone this repository to your local machine and enter the repository directory: cd rosbag-analysis.
2. Activate the virtual envrionment in the repo directory: source .venv/bin/activate

Usage

This script can be used to plot different aspects of a ROS bag file. The following command line arguments are available:

• bag_file: The path to the ROS bag file to analyze (default: "example.bag").
• topic_names: A list of topic names to plot (default: ["/topic1"]).
• --plot-timestamps (-t): Plot topic timestamps.
• --plot-timediff (-td): Plot rostime difference.
• --plot-header-timediff (-htd): Plot difference between header timestamps.
• --plot-odometry (-o): Plot odometry topic values.
• --plot-std-values (-s): Plot topic standard values.

Below are some examples:

To plot the rostime difference for the topic /topic2 in the bag file mybag.bag, run the following command:

# Timediff of headers (common used)
python main.py mybag.bag /topic2 -htd
# Timediff of ROS messages
python main.py mybag.bag /topic2 -td

To plot the standard type topic values for the topics /topic1 and /topic2 in the bag file mybag.bag, run the following command:

python main.py mybag.bag /topic1 /topic2 -s

To plot the timestamps for the topic /topic1 in the bag file mybag.bag, run the following command:

python main.py mybag.bag /topic1 -t