rosbag data plotting MATLAB

本文介绍使用matlab对rosbagPlot the data

1rosbag用法

Start either one firstros程序,比如小乌龟,进行控制

一般而言,All it takes is a simple command

cd 桌面
rosbag record -a

 参考链接：rosbag使用方法汇总

After recording is complete,把bag文件拷到win系统下,打开matlab

2matlab数据处理

clear;
close all;
bag = rosbag('wugui.bag');

After performing these three steps,在bagAll topics can be seen under this data

Then get the value of the specific data

sel = select(bag, 'Topic', '/turtle1/cmd_vel');
msgStructs = readMessages(sel,'DataFormat','struct');

 After reading the data,保存在了msgStructs这个数据里,Open this data,You can see the structure type inside

 

Take the topic of getting speed for example,比如XThe linear velocity in the direction can be knownLinear->X

Then do a single data fetch

vx1 = cellfun(@(m) double(m.Linear.X),msgStructs);
vy1 = cellfun(@(m) double(m.Linear.Y),msgStructs);

 然后vx1和vy1就是数组,It can be used for drawing

完整代码

clear;
close all;
bag = rosbag('wugui.bag');


sel = select(bag, 'Topic', '/turtle1/cmd_vel');
msgStructs = readMessages(sel,'DataFormat','struct');
vx1 = cellfun(@(m) double(m.Linear.X),msgStructs);
vy1 = cellfun(@(m) double(m.Linear.Y),msgStructs);
sel = select(bag, 'Topic', '/turtle1/pose');
msgStructs = readMessages(sel,'DataFormat','struct');
d01x = cellfun(@(m) double(m.X),msgStructs);
d01y = cellfun(@(m) double(m.Y),msgStructs);



figure(1)
    hold on;
    plot(d01x,d01y,'Color','b','LineStyle','-','LineWidth',1);
    grid on;