rt_logger

A simple ROS package to log numeric data such as doubles, std vectors, Eigen matrices and vectors.

How to use

Include this header wherever you want to access the logger:

#include <rt_logger/rt_logger.h>

Add a real time publisher to the logger:

rt_logger::RtLogger::getLogger().addPublisher("/topic_name",data_to_publish)

Note: This operation is not real time safe! If you are using a real time controller from ros-control, perform this operation in the init of the controller.

Finally, add this line in the main loop of your code to publish the data:

rt_logger::RtLogger::getLogger().publish(ros_time)

Check out this test for more examples.

Import data in Matlab or Octave

First, be sure to have scipy and numpy installed:

sudo apt-get update && sudo apt-get install python-scipy python-numpy -y

Create the publishers with rt_logger and record the topics with rosbag, see the command line here

Use this script to extract the .mat files from the bag files:

./read_bag.py -b test.bag

This command will create a mat file for each topic in the bag. To see the available options type:

./read_bag.py -h