Use the Read Data block to play back data from a rosbag logfile recorded from a Jackal™ robot from ClearPath Robotics™.
Load the model.
Open the Read Data block mask to load a rosbag logfile. Click the Load logfile data link. Browse for the logfile and specify a time offset or limited duration if needed. The
jackal_sim.bag file is attached to this example.
Select the desired topic,
/odometry/filtered, which contains
nav_msgs/Odometry messages. The Read Data block outputs the messages from the rosbag logfile. A bus selector extracts the xy-position from the
Run the model. The block plays back data in sync with the simulation time. The XY Graph plot displays the robot position over time.