ROS2 – Data reception and logging

Checking the data reception

Check the currently published ROS topics by using:

ros2 topic list

Now you can visualize the live data:

ros2 topic echo /genesys/adma/"topic-name"

Recording Data

For recording the data you can either select some topics you want to record.

ros2 bag record -o my_recording /genesys/adma/imu /ouster/points

Or you can logg all available ROS topics.

ros2 bag record -a

In ROS 2, you can record data in two formats: ROSBag and MCAP. We recommend using MCAP due to its superior performance, including faster indexing, better compression, and improved efficiency for large datasets. (Check ROS2 - Recording Formats).

ros2 bag record -a -s mcap

Compressing MCAP files

To reduce the storage load of the measurement files (.mcap), use the mcap cli tool as follows:

mcap_cli compress $FILENAME-INPUT.mcap -o $FILENAME-OUTPUT.mcap