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How to extract data from sensor_msgs/Joy ROS as timeseries in MATLAB script?

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Camilo
Camilo 2017 年 11 月 16 日
編集済み: Walter Roberson 2024 年 1 月 16 日
Hello!
Thanks for your help. I am working with rosbag files in MATLAB R2016B. Following the examples in https://www.mathworks.com/help/robotics/examples/work-with-rosbag-logfiles.html I try to extract data from sensor_msgs/Joy from an specific topic like this:
bagselection_setpoint_attitude = select(bag,'Topic','/controlbot/joystick');
ts_setpoint_attitude = timeseries(bagselection_setpoint_attitude);
When I type ts_setpoint_attitude.Data the answer is:
ts_setpoint_attitude.Data
ans =
0 0 0
1 0 0
2 0 0
3 0 0
4 0 0
5 0 0
6 0 0
But this type of messages contains Header, Axes and Buttons. If I use the following code:
test = readMessages(bagselection_setpoint_attitude)
The result is:
test =
946×1 cell array
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
[1×1 Joy]
If I go into each cell, the property Axes which is that I need, show the correct values:
test{1,1}.Axes
ans =
4×1 single column vector
0
0
12
0
Why when I work with timeseries, the data is not visualized correctly? In fact the size of timeseries columns is not correct?
How can I access to Axes data from this type of message successfully?
Thanks!
Best Regards

回答 (1 件)

MathWorks Robotics and Autonomous Systems Team
編集済み: Walter Roberson 2024 年 1 月 16 日
As shown in the example: https://www.mathworks.com/help/robotics/ref/timeseries.html
filepath = fullfile(fileparts(which('ROSWorkingWithRosbagsExample')), 'data', 'ex_multiple_topics.bag');
bag = rosbag(filepath);
bagSelection = select(bag,'Topic','/odom');
ts = timeseries(bagSelection,'Pose.Pose.Position.X');
There was only one topic in the "bagSelection" variable, and then only one data from Pose data was extracted and was put in timeseries fashion.
Follow a similar pattern and you will be able to extract the data you are looking for.
  1 件のコメント
Kyle Gao
Kyle Gao 2024 年 1 月 15 日
Hi, can you please eleborate more? Odom data is a structure where the x position can be directly accessed by 'Pose.Pose.Position.X'. However, button in /joy topic is a list of numbers. It seems the timeseries function can not associate a timeseries to a list but rather a single value. Thanks in advance

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