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How can I use bag file data in Matlab?

asked 2011-09-27 03:21:02 -0500

fresh_ros_user gravatar image

I have datas in bag file such as velocity and acceleration from the sensors. I want to read data with respect to time domain to make calculations in Matlab. How can I gain the data and use in Matlab? Thanks for your answers.

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answered 2011-09-27 03:31:16 -0500

DimitriProsser gravatar image

If you play back the bag, you can use:

rostopic echo -p /topic_name

to display the data in a MatLab-friendly format. You can output this to a text file with:

rostopic echo -p /topic_name > data.txt

Or, you can even convert a topic directly to CSV with:

rostopic echo -b file.bag -p /topic

NOTE: This will only work with simple message types. LaserScans, PointClouds, arrays, etc won't work very well because the entire message is rendered to text.

The other option would be to use the rosbag API, located here to load the data into a C++ program and manipulate it that way.

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Or use the python API along with to write out a .mat file.
Dan Lazewatsky gravatar imageDan Lazewatsky ( 2011-09-27 04:38:37 -0500 )edit

Could you please show how to open that text file in Matlab? None of the tutorials helped me solve this

miloup gravatar imagemiloup ( 2014-04-06 21:15:57 -0500 )edit

Load the file to matlab workspace using the txtdata=load('filepath/mytextfile.txt). numdata=str2double(txtdata.mytextfile). Sometimes this does not work right away. Find out what is the import using commands like ischar() or isobj() and google the corresponding command to swap it to numericals.

Brivate Bungo gravatar imageBrivate Bungo ( 2017-03-20 08:28:22 -0500 )edit

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Asked: 2011-09-27 03:21:02 -0500

Seen: 7,885 times

Last updated: Feb 04 '12