MultiSense SL Example Data Files


Compressed bag files from the Multisense-SL can be downloaded from the following URL:

Additional data files will be posted to this topic as they become available.


Processing and Viewing Bag Files: 

To begin processing bag files install ROS Fuerte. Installation instructions can be found in the Multisense ROS driver documentation ( or at

After downloading the bag files execute the following commands in the directory where the bag files are located:


source /opt/ros/fuerte/setup.bash

rosbag decompress <bag_file_name>


This will decompress the bag files so that they can processed by ROS.


To play the bag files back on the system first open a separate terminal and execute:


source /opt/ros/fuerte/setup.bash



Next open a new terminal and change directories to the location of the decompressed bag files. Executing the following command will play the data in a bag file in a loop.


source /opt/ros/fuerte/setup.bash

rosbag play -l <decompressed_bag_file_name>


For more options on replaying bag files execute:


source /opt/ros/fuerte/setup.bash

rosbag play -h


To view all the topics being published from the bag file execute the following in a separate terminal:


source /opt/ros/fuerte/setup.bash

rostopic list


To visualize the data in the ROS Rviz visualization program execute the following in a separate terminal:


source /opt/ros/fuerte/setup.bash

rosrun rviz rviz


Download the following rviz_config.vcg configuration file and open it in Rviz by navigating to File->Open Config and selecting the downloaded rviz_config.vcg.



To extract specific data from the bag file without using rosbag play please see the rosbag API (



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