Real-Time ROS2 Log Bag Player

Name

Real-Time ROS2 Log Bag Player

Description

The ROS 2 Bag Player is a software component that facilitates the playback of data stored in ROS 2 bag files. This component is designed to allow users to replay sensor data, messages, and topics that were previously recorded within a ROS 2 environment. The component reads the bag file, which contains serialized message data, and publishes the messages to the corresponding ROS 2 topics as they were originally recorded.

The primary function of the ROS 2 Bag Player is to simulate real-time behavior by replaying recorded messages at their original timestamps. It is useful in scenarios such as testing, debugging, and developing applications that require the replay of real-world data without needing to interact with physical hardware or sensors.

Features:

• Plays back multiple topics stored within a bag file.
• Preserves the timing and order of messages as recorded.
• Supports different serialization formats, including CDR (Common Data Representation).
• Integrated with the ROS 2 ecosystem, utilizing the ros2 bag command-line tool for playback.
• Ideal for end-to-end testing and simulating robotic systems or applications.

Type

Tool

Layer

Digital Twin Representation

HRL

2.3, 2.4, 2.8

Partners

Pilot

To be used in all pilots that employ ROS2 for robot integration with the digital twin, specifically the GOIMEK pilot.

Use cases:

• Testing: Verifying algorithms and behaviors with recorded data.
• Debugging: Investigating issues without requiring live data from hardware.
• Development: Using real-world data for creating and refining ROS 2 applications.