delete
Syntax
Description
delete(
removes the bagWriter
)rosbagwriter
object
from memory. The function closes the opened rosbag file before deleting the object.
If multiple references to the rosbagwriter
object exist in the
workspace, deleting the rosbagwriter
object invalidates the remaining
reference. Use the clear
command to delete the remaining references to
the object from the workspace.
Note
The rosbagwriter
object locks the created bag file for use, it is
necessary to delete and clear the rosbagwriter
object in order to use
the bag file with a reader or perform other operations.
Examples
Write Log to rosbag File Using rosbagwriter
Object
Retrieve all the information from the rosbag log file.
rosbag('info','path_record.bag')
Path: /tmp/Bdoc24b_2725827_1915370/tp324d55df/ros-ex73035957/path_record.bag Version: 2.0 Duration: 10.5s Start: Jul 05 2021 08:09:52.86 (1625486992.86) End: Jul 05 2021 08:10:03.40 (1625487003.40) Size: 13.3 KB Messages: 102 Types: geometry_msgs/Point [4a842b65f413084dc2b10fb484ea7f17] Topics: /circle 51 msgs : geometry_msgs/Point /line 51 msgs : geometry_msgs/Point
Create a rosbagreader
object of all the messages in the rosbag log file.
reader = rosbagreader('path_record.bag');
Select all the messages related to the topic '/circle'
.
bagSelCircle = select(reader,'Topic','/circle');
Retrieve the list of timestamps from the topic.
timeStamps = bagSelCircle.MessageList.Time;
Retrieve the messages in the selection as a cell array.
messages = readMessages(bagSelCircle);
Create a rosbagwriter
object to write the messages to a new rosbag file.
circleWriter = rosbagwriter('circular_path_record.bag');
Write all the messages related to the topic '/circle'
to the new rosbag file.
write(circleWriter,'/circle',timeStamps,messages);
Remove the rosbagwriter
object from memory and clear the associated object.
delete(circleWriter)
clear circleWriter
Retrieve all the information from the new rosbag log file.
rosbag('info','circular_path_record.bag')
Path: /tmp/Bdoc24b_2725827_1915370/tp324d55df/ros-ex73035957/circular_path_record.bag Version: 2.0 Duration: 10.4s Start: Jul 05 2021 08:09:52.86 (1625486992.86) End: Jul 05 2021 08:10:03.29 (1625487003.29) Size: 8.8 KB Messages: 51 Types: geometry_msgs/Point [4a842b65f413084dc2b10fb484ea7f17] Topics: /circle 51 msgs : geometry_msgs/Point
Load the new rosbag log file.
readerCircle = rosbagreader('circular_path_record.bag');
Create a time series for the coordinates.
tsCircle = timeseries(readerCircle,'X','Y');
Plot the coordinates.
plot(tsCircle.Data(:,1),tsCircle.Data(:,2))
axis equal
Create rosbag File Using rosbagwriter
Object
Create a rosbagwriter
object and a rosbag file in the current working directory. Specify the compression format of the message chunks and the size of each message chunk.
bagwriter = rosbagwriter("bagfile.bag", ... "Compression","lz4",... "ChunkSize",1500)
bagwriter = rosbagwriter with properties: FilePath: '/tmp/Bdoc24b_2725827_1908818/tpff73b302/ros-ex26181333/bagfile.bag' StartTime: 0 EndTime: 0 NumMessages: 0 Compression: 'lz4' ChunkSize: 1500 Bytes FileSize: 4117 Bytes
Start node and connect to ROS master.
rosinit
Launching ROS Core... Done in 0.75187 seconds. Initializing ROS master on http://172.20.148.53:60580. Initializing global node /matlab_global_node_65531 with NodeURI http://dcc867993glnxa64:42101/ and MasterURI http://localhost:60580.
Write a single log to the rosbag file.
timeStamp = rostime("now"); rosMessage = rosmessage("nav_msgs/Odometry"); write(bagwriter,"/odom",timeStamp,rosMessage); bagwriter
bagwriter = rosbagwriter with properties: FilePath: '/tmp/Bdoc24b_2725827_1908818/tpff73b302/ros-ex26181333/bagfile.bag' StartTime: 1.7256e+09 EndTime: 1.7256e+09 NumMessages: 1 Compression: 'lz4' ChunkSize: 1500 Bytes FileSize: 4172 Bytes
Shut down the ROS network.
rosshutdown
Shutting down global node /matlab_global_node_65531 with NodeURI http://dcc867993glnxa64:42101/ and MasterURI http://localhost:60580. Shutting down ROS master on http://172.20.148.53:60580.
Remove rosbag writer object from memory and clear the associated object.
delete(bagwriter)
clear bagwriter
Create a rosbagreader
object and load all the messages in the rosbag log file. Verify the recently written log.
bagreader = rosbagreader('bagfile.bag')
bagreader = rosbagreader with properties: FilePath: '/tmp/Bdoc24b_2725827_1908818/tpff73b302/ros-ex26181333/bagfile.bag' StartTime: 1.7256e+09 EndTime: 1.7256e+09 NumMessages: 1 AvailableTopics: [1x3 table] AvailableFrames: {0x1 cell} MessageList: [1x4 table]
bagreader.AvailableTopics
ans=1×3 table
NumMessages MessageType MessageDefinition
___________ _________________ _____________________________
/odom 1 nav_msgs/Odometry {'std_msgs/Header Header...'}
Input Arguments
bagWriter
— ROS log file writer
rosbagwriter
object
ROS log file writer, specified as a rosbagwriter
object.
Version History
Introduced in R2021b
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