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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

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

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Step 1: Upload Your Rosbag

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. This automatically sets up everything: a new system with all your ROS2 topics ready to use.

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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 is CLI-based (web interface coming soon)
  • 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