Skip to content

Latest commit

 

History

History
108 lines (81 loc) · 2.84 KB

README.md

File metadata and controls

108 lines (81 loc) · 2.84 KB

ROS Bag Helper Scripts

Quick commands to record and play back ROS2 bags for testing the simulation GUI.

Quick Start

1. Record a test bag from the GUI

# In PowerShell (Windows) - default 15 seconds, saves to bags/pool_test_01
npm run bag:record

This will:

  • Prompt you to start the GUI simulation first
  • Record /imu/data, /dvl/odom, and /depth/pose for 15 seconds
  • Save to bags/pool_test_01/

Custom bag name and duration:

# Record to a custom bag name for 30 seconds
wsl bash ./scripts/record-bag.sh my_test_bag 30

2. Play back a bag

# In PowerShell (Windows) - plays bags/pool_test_01 in loop
npm run bag:play

This will:

  • Play bags/pool_test_01/ in loop mode at normal speed
  • Press Ctrl+C to stop

Custom bag name and playback rate:

# Play custom bag at 2x speed
wsl bash ./scripts/play-bag.sh my_test_bag 2.0

3. List available bags

npm run bag:list

Manual Usage (from WSL)

If you prefer to run the scripts directly in WSL:

# Record
./scripts/record-bag.sh [bag_name] [duration_seconds]

# Play
./scripts/play-bag.sh [bag_name] [rate]

# Examples
./scripts/record-bag.sh pool_test_02 20
./scripts/play-bag.sh pool_test_02 1.5

Workflow for Testing Bag Mode

  1. Record a bag:

    npm start                    # Start GUI
# Set Data Source: Synthetic Simulation, click Start
npm run bag:record           # In another terminal

  2. Play it back:

    npm run bag:play             # Plays in loop
# In GUI: switch to "Bag Playback (listen only)"
# Click "Seed from ROS topics"

  3. Verify seeding works:

    • Topics should show Hz values (not "lost!")
    • Seed button should be enabled
    • After clicking "Seed from ROS topics", you should see:
      • Green status line: "Seeded orientation from /imu/data, depth from /depth/pose, velocity from /dvl/odom — HH:MM:SS"

Troubleshooting

"Bag not found" error:

  • Check npm run bag:list to see available bags
  • Make sure you recorded a bag first with npm run bag:record

"No topics" when recording:

  • Ensure rosbridge is running in WSL: ros2 launch rosbridge_server rosbridge_websocket_launch.xml
  • Start the GUI and begin synthetic simulation
  • Verify topics with: wsl ros2 topic list

Bag playback but GUI shows "lost!" banners:

  • Verify topics are publishing: wsl ros2 topic hz /imu/data
  • Check rosbridge is connected (green banner in GUI)
  • Ensure bag contains the right topics: wsl ros2 bag info bags/pool_test_01

Notes

  • All scripts run inside WSL2 (where ROS2 is installed)
  • The npm commands are wrappers that invoke WSL automatically
  • Bags are stored in the bags/ directory at the repo root
  • Recording uses a 15-second default duration (configurable)
  • Playback runs in loop mode by default