Log files produced by the 0.7 version of the RSBag tools cannot be processed using the older versions. However, the opposite direction should work.


There are currently three different ways to install the 0.7 version of the RSBag tools:

  • Binary downloads
  • Debian packages
  • From source

Binary Downloads

  1. Download the bag binary from the appropriate location:

  2. After the download, the bag file has to be made executable in most cases. This can be done for example by executing

    chmod +x bag

    in the download directory.

  3. The various bag-* tools are provided as symbolic links to the single bag binary. When invoked, it prints a list of these links and offers to create them:

    $ ./bag
    Create missing links now [yes/no]? y
    Creating symbolic link bag-info -> bag


    The links can also be created as follows:


    $ ./bag create-links


    $ for alias in bag-{record,info,merge,cat,play} ; do ln -s bag ${alias} ; done
  4. If required, download scripts from the locations given above.

Debian Packages

Debian packages for several versions of Ubuntu GNU/Linux are available from the CoR-Lab package repository.

  1. The following repository source line has to be added to /etc/apt/sources.list:

    deb RELEASENAME testing

    where RELEASENAME is the appropriate Ubuntu release name.

  2. After that, packages can be installed via

    $ sudo apt-get install PACKAGENAME

    where PACKAGENAME is rsbag-bin-cl0.7 for this release of RSBag.


This installation method only works with Ubuntu GNU/Linux.


More information can be found here.

From Source


Building and installing RSBag and the associated tools from source requires the SBCL Common Lisp implementation and additional projects which can be downloaded from TODO. All remaining dependencies should be installable via Quicklisp.

  1. The entire source code of RSBag (for version 0.7) along with associated support files and this manual is available at

  2. Build and install RSBag

    $ mkdir -p build && cd build
    $ cmake ..
    $ make
    $ make install

Testing the Installation

The success of the installation can be tested as follows:

$ bag-cat --version
bag-cat version       0.6.0
SBCL version          1.0.55
RSB version           0.6.0
RSBAG version         0.6.0
RSBAG-TIDELOG version 0.6.0


  1. Problem

    Calling any of the bag-* tools, the following happens:

    $ bag-cat my-log-file.tide
      Failed to load Spread library: Unable to load any of the alternatives:
      ("" "" ""
       "" "").
      Did you set LD_LIBRARY_PATH?
      Spread transport will now be disabled.
    [execution continues, but Spread transport does not work]


    Place one of the mentioned Spread libraries on the system library search path or set LD_LIBRARY_PATH appropriately.

  2. Problem

    We would like also to know how to record with bag-record. We have tried:

    $ bag-record -o test.tide                         \
                 'spread://remote:4803/nao/vision/0'  \
                 'spread://remote:4803/nao/vision/1'  \

    with no success: ILLEGAL SPREAD.


    Most likely, there is no Spread daemon running on host remote (or not on port 4803).

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