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RDA Cloud Replay demonstration

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Why Use RDA Cloud Replay?

  • Validate before production: Test your trigger logic with real data before deploying to physical systems
  • Safe experimentation: Try different trigger configurations without any risk
  • Fast onboarding: Get hands-on experience immediately

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Workflow

  1. Upload your rosbag - creates a system automatically
  2. Configure triggers - define what events matter to you
  3. Click replay - watch events generate in real-time
  4. Analyze results - review captured data and refine your setup

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Getting Started

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Prerequisites

  • A ROS2 bag file (.db3 or .mcap format)
  • Basic understanding of Heex concepts (systems, datasources, triggers)
  • For CLI method: Heex CLI installed and authenticated

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Step 1: Upload Your Rosbag

You have two ways to upload your rosbag:
  1. Navigate to the Systems view in the Heex platform
  2. Click the “Upload ROS Bag File” button at the top of the systems list
System List with Upload ROS Bag File button
  1. A modal will open where you can:
    • Select your rosbag file (.db3 or .mcap)
    • Provide a system name
    • Configure basic settings
Upload ROS Bag File Modal
  1. Click upload - Heex will automatically create a system with a datasource containing all your ROS2 topics

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Option B: Command Line

Run this command to upload your rosbag and create a system: 
heex system create-from-bag --bag-path /path/to/recording.mcap --name "My System"
For more details on this command, see System CLI Command - Create from Bag File. Both methods automatically set up everything: a new system with a datasource containing all your ROS2 topics as signals, ready to use in triggers.

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Step 2: View Your System

Open the Heex platform and navigate to your new system. You’ll see:
  • Your rosbag file at the top of the system page
  • A datasource containing all your rosbag topics and messages as signals

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Step 3: Configure Triggers

Create triggers based on the RDA signals available in your datasource. For example:
  • High Speed Alert: Trigger when /cmd_vel/linear/x > 2.0
  • Battery Low: Trigger when /battery_state/percentage < 20
  • Collision Detection: Trigger when /obstacle_distance < 0.5
You can create triggers through:
  • The web interface (recommended for first-time users)
  • The CLI: heex trigger create - see Trigger CLI Command for more details

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Step 4: Replay Your Rosbag

On the system page, click the “Replay” button. Heex will replay your rosbag and generate events based on your triggers.

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Step 5: Review Your Events

Navigate to the Events view to see what was captured. Each event will have:
  • Labels from the system
  • Labels from the trigger that generated the event
  • All recordings selected in the trigger configuration

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Use Cases

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Quick Validation

Challenge: Test if your trigger logic works before deploying to production Solution: Use a rosbag from your actual system, configure triggers, and validate event generation Result: Confidence in your configuration before production deployment

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Onboarding & Training

Challenge: New team members need to understand Heex without access to physical systems Solution: Provide sample rosbags and guided exercises using Cloud Replay Result: Hands-on learning experience in a safe, controlled environment

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What to Know

  • Upload available via both web interface and CLI
  • Works with RDA datasources only (custom monitors not supported yet)
  • File size limits may apply

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Best Practices

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Preparing Your Rosbag

  1. Keep it focused: Use shorter rosbags (1-5 minutes) for faster processing
  2. Include relevant topics: Ensure your rosbag contains the topics you want to monitor
  3. Test with representative data: Use rosbags that reflect real-world scenarios

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Configuring Triggers

  1. Start simple: Begin with one or two basic triggers to verify the workflow
  2. Use clear conditions: Make trigger logic easy to understand and debug
  3. Label appropriately: Use descriptive names for triggers and conditions

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Iterating

  1. Review generated events: Check if events match your expectations
  2. Refine triggers: Adjust thresholds and conditions based on results
  3. Re-replay: Upload new rosbags or modify triggers and replay again

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Troubleshooting

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No Events Generated

Possible causes:
  • Triggers not configured before replay
  • Trigger conditions never met in the rosbag data
  • Incorrect signal paths in trigger conditions
Solutions:
  • Verify triggers exist and are active
  • Check rosbag actually contains data that meets trigger conditions
  • Review signal names in the datasource match trigger configuration

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Rosbag Upload Failed

Possible causes:
  • File too large
  • Unsupported format
  • Network connection issues
Solutions:
  • Check file size limits
  • Verify file is a valid ROS2 bag (.db3 or .mcap)
  • Try uploading again with stable connection

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Next Steps

After successfully using RDA Cloud Replay:
  1. Deploy to real systems: Apply your validated configuration to production
  2. Explore custom implementations: Move beyond RDA to SDK-based custom monitors
  3. Integrate with your workflow: Use the CLI in CI/CD pipelines for integration