.. _analyzer:

Analyzing Rosbags
=================

The Rosbag Analyzer is an utility to analyze an rosbag. It can for example (and at the moment only that) analyze the time delay of modules of AS ROS.

.. click:: cli:analyzer_init
   :prog: analyzer
   :nested: full

Prerequisites
-------------

#. You have to place rosbags which should be analyzed inside the ``as_ros/rosbags`` directory.

Usage
-----

#. Execute the analyzer utility (within the docker container, see :ref:`docker-exec-it-bash`), see explanation below and options below:

   .. code-block:: bash

      analyzer [INPUT_ROSBAG]

   a. You may want to specify to analyze the time delays of the various ROS modules of AS ROS (``-t``).

   b. You may want to specify a start time, duration and end time for the output rosbag (``-s``, ``-d`` and ``-e``).

   c. You may want to specify to calculate the IMU rotation matrix (``-i``).

   d. You may want to specify to calculate the actuator delay (``-a``).