<> <> '''`rqt_bag` supersedes [[rxbag]]''', which is deprecated since `ROS` [[groovy]]. == Overview == `rqt_bag` is an application for recording and managing bag files. Primary features: * show bag message contents * display image messages (optionally as thumbnails on a timeline) * plot configurable time-series of message values * publish/record messages on selected topics to/from ROS * export messages in a time range to a new bag `rqt_bag` can be extended via a plugin mechanism. Core plugins are contained in the [[rqt_bag_plugins]] package available in the [[rqt_common_plugins]] metapackage. {{attachment:rqt_bag.png|rqt_bag window|width="750"}} == Usage == === To run === {{{ $ rqt }}} and select from `Plugins` --> `Logging` --> `Bag`. Or simply the following (with this you can't open `rqt_bag` with other rqt tools). {{{ $ rqt_bag }}} The main window shows a timeline representing the stream of messages contained in the bag file, listed by topic. === Publish ROS topics while playing back from the recorded bag file === Right-click on the name of the topic you want to publish, then select `Publish` (as in the image below). {{attachment:publish_grab.png|publish a topic in rqt_bag|width="700"}} '''Note:''' Don't forget to use simulation time when republishing from a bag file: [[Clock#Using_Simulation_Time_from_the_.2BAC8-clock_Topic|Using Sim Time]] === To stop recording === You can stop recording by re-clicking the red circle button. == Description for GUI components == === Timeline === The messages are shown at the timestamp stored in the bag file. This timestamp may differ from the message's `Header` timestamp (if any), e.g. `rosbag record` stores the time the message was received. Right-clicking on the timeline opens a menu with options for opening detailed message views, choosing which topics to display thumbnails for, managing re-publishing of messages, and exporting a time range of messages to another bag. A subset of the data can be selected by dragging the cursor over a range of time at the top of the timeline. This selection is used in any message view, such as plot view. {{attachment:rqt_bag_time_selection.png|rqt_bag time selection|width="700"}} === Toolbar === At the top of the timeline window is a toolbar for controlling the playhead and zooming the display: {{attachment:rqt_bag_toolbar.png}} From left to right, the buttons on the toolbars allow you to: * record mode * load file * save currently selected region to a bag file * move playhead to start of timeline * rewind or slow playback * play/pause * fastforward or slow rewind * move playhead to end of timeline * zoom in * zoom out * reset zoom level to full bag * toggle thumbnail display === Status Bar === At the bottom of the window is a status bar: From left to right, these indicators display: * progress for background tasks * timestamp of playhead * time in human readable form * elapsed time in seconds from start of timeline * current playback speed === Message Views === Message views display information about the message immediately preceding the position of the timeline playhead (the vertical red line.) The message datatype determines which message views are available. {{attachment:rqt_bag_views.png|rqt_bag message views|width="700"}} For details on common message views such as images and plotting, see [[rqt_bag_plugins]]. Every message view has a toolbar for stepping the playhead forward to the next message on the topic, back to the previous message, or to the first and last messages in the bag. ==== raw ==== Every topic has an option of displaying a raw view of the message. This displays the fields of the message in a tree view: Also, the following keyboard shortcuts can be used: ||''Ctrl-A'' ||Select all fields in message || ||''Ctrl-C'' ||Copy selected fields to clipboard || == Plugin API == `rqt_bag` currently has a proof-of-concept plugin API, which is used in the [[rqt_bag_plugins]] package. ## AUTOGENERATED DON'T DELETE ## CategoryPackage