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Log Files and Transformations

Analyze rosbags, transformation trees, and time series data

ROS topics are stored in log files called rosbags. You can access and filter information from these rosbags in MATLAB^®. For an example of working with rosbags, see Work with rosbag Logfiles.

You can access transformations between coordinate systems as ROS topics and use them to transform data in MATLAB. For more information see, Access the tf Transformation Tree in ROS.

Functions

`rosbag`	Open and parse rosbag log file
`readMessages`	Read messages from rosbag
`select`	Select subset of messages in rosbag
`timeseries`	Creates a time series object for selected message properties

`rostime`	Access ROS time functionality
`rosduration`	Create a ROS duration object
`seconds`	Returns seconds of a time or duration
`rostf`	Receive, send, and apply ROS transformations
`apply`	Transform message entities into target frame

`canTransform`	Verify if transformation is available
`transform`	Transform message entities into target coordinate frame
`waitForTransform`	Wait until a transformation is available
`getTransform`	Retrieve transformation between two coordinate frames
`sendTransform`	Send transformation to ROS network