ROS2¶

Vendor information

Vendor	Web page	Product name	Version
	https://ros.org	ROS2	Humble Hawksbill, Iron Irwini, Jazzy Jalisco

Operating system	Support
Windows	✓
Linux	✓

Ports¶

Port ENVCOM

Specifics¶

This tool connection enables the reading, writing and recording of signals from ROS 2 environments. In addition rosbag2 recordings can be used in trace analysis.

Using rosbag2 recordings in trace analysis¶

A rosbag2 recording contains the timestamps and data of a certain set of topics. Each of these topics consists of a structure of signals. To extract signals according to their structure from the binary data of the rosbag2 recordings in trace analysis some meta information is required.

Info

Supported are rosbag2 recordings in version 4 up to and including 9. Rosbag2 recordings support different serialization methods. This tool connection currently only supports recordings in CDR version 1 (Common Data Representation) format in little endian without any compression. Only the sqlite3 and mcap storage plugins are supported.

Recording by ecu.test¶

If recordings are created using ecu.test, a .zip file is created. This file contains the actual rosbag2 recordings, the metadata.yaml, as well as all necessary meta information. All meta information about the structures of the topics are collected automatically.

Info

ROS2 Actions and Services are not supported.

Use of existing rosbag2 recordings¶

To use rosbag2 recordings that were not created with ecu.test, some manual steps are necessary. See: Supported file formats

Properties 🛈¶

Name	Available if	Default value	Valid values	Type	Description
Common
ROS2 start script	Common			string	Path to ROS2 setup script, e.g. /opt/ros/humble/setup.sh
Path to the Python executable	Common			string	Path to Python executable as absolute path
Recording
Recording format	Recording	‘sqlite3’	[‘sqlite3’, ‘mcap’]	string	Format in which recordings are to be made.
Timeout for tool call ❲in sec.❳		‘600’		string	Timeout after which a tool call is aborted.