Quad Logger¶

Overview¶

This package contains data-logging and post-processing utilities for Quad-SDK runs: rosbag recording helpers, Python parsers for quad_msgs payloads, and plotting scripts for state, control, and EKF comparison. MATLAB-based plotting scripts from prior iterations are preserved alongside the Python ones.

License¶

The source code is released under a MIT License.

Affiliation: Robomechanics Lab, Carnegie Mellon University

Tested under ROS2 Jazzy on Ubuntu 24.04.

Build¶

colcon build --packages-select quad_logger

Usage¶

Logging is typically invoked via the bundled launch file, which starts a ros2 bag record process with the standard Quad-SDK topic set:

ros2 launch quad_utils logging.py

Bag files are written to the current working directory with a timestamped prefix.

Scripts¶

Python (ROS2)¶

Run these after sourcing the workspace. All Python parsers read MCAP-format ROS2 bags.

scripts/save_log.py — wraps ros2 bag record with Quad-SDK's topic preset and a timestamped filename.
scripts/parse_quad_bag.py — reads a bag and returns a Python dict keyed by topic with deserialized message sequences.
scripts/process_log.py — end-to-end helper that parses a bag and produces the default set of plots.
scripts/plot_state.py — plots body pose/twist, joint states, and foot states from state/ground_truth or state/estimate.
scripts/plot_control.py — plots motor commands and ground reaction forces.
scripts/plot_local_plan.py — plots NMPC local plan trajectories vs. realized state.
scripts/plot_ekf_comparison.py — overlays EKF estimate against ground truth for state-estimation evaluation.

Example:

python3 src/quad-sdk/quad_logger/scripts/process_log.py /path/to/bag_dir

MATLAB¶

The MATLAB scripts (parseQuadBag.m, plotState.m, plotControl.m, animateData.m, etc.) are retained for users with existing MATLAB analysis pipelines. They predate the ROS2 migration and currently read ROS1 .bag files; use the Python equivalents for ROS2 MCAP bags.

Legacy (`scripts/ros1/`)¶

Contains ROS1-era parsers (bag_reader.py, read_bag.py, mouse_interface.py) kept for reference. These will not work with ROS2 bags without modification.

Bugs & Feature Requests¶

Please report bugs and request features using the Issue Tracker.