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Viewing Logged Diagnostics in rqt_bagDescription: Use launch files or bonds and a service to add a new set of analyzers to the aggregator.
Tutorial Level: INTERMEDIATE
The rqt_robot_monitor package includes an rqt_bag plugin that can be used to view diagnostics data directly in rqt_bag. If you have rqt_bag and rqt_robot_monitor installed, this plugin will be loaded automatically.
rqt_bag requires a roscore. If you don't have a roscore running, start one:
In a new terminal, run rqt_bag on a bag that contains diagnostic data (the /diagnostics or /diagnostics_agg topic):
When rqt_bag opens, right-click on the diagnostics_agg topic to visualize it:
The diagnostics viewer may appear poorly formatted, and will be empty. I prefer to position it on the right side of the screen, like this:
Now you can use the playhead to seek through your log file, or the arrow buttons to move through the diagnostics one message at a time:
(Here you can see that my robot had some I2C problems at the beginning of this log)