Gazebo
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Gazebo
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Logging and playback
Overview
This tutorial explains how to use the Gazebo logging capabilities to record your simulation and
then reproduce it afterwards, using either the GUI or the command line.
Gazebo log files
Gazebo log files are compressed .log files which contain an initial full description of the whole
world, followed by a series of "world states".
The
initial
description
contains
complete
information
about
everything
in
the
world,
from
the
scene to the entities present.
After
that,
every
time
something
changes
in
simulation,
a
new
world
state
is
recorded.
World
states are much simpler, as they only contain information about what changed, such as:
Simulation statistics such as the current simulation time and the number of physics iterations.
Current state of each model in the scene, as well as the state of each link and joint in the model.
This includes information such as instantaneous pose, velocity, acceleration and forces.
Current pose of each light in the world.
Tip: You can find the whole spec for the world state here.
In this tutorial we will record a few log files and then take a peek inside them at the end.
Record a log
Logging from the GUI
Start your simulation. Here, as an example, we have a simple world with a double pendulum.
Click on the logging icon on the top right, or hit Ctrl+D to bring up the Data Logger.