I have a tool based around a library here: https://code.google.com/p/wu-robotics/source/browse/trunk/precise_trajectory/graph_trajectory/src/graph_trajectory/__init__.py

It also uses a JointWatcher to record the values that are actually performed. 
https://code.google.com/p/wu-robotics/source/browse/trunk/precise_trajectory/pr2_precise_trajectory/src/pr2_precise_trajectory/joint_watcher.py




On Thu, Mar 21, 2013 at 8:53 AM, Adam Leeper <aleeper@stanford.edu> wrote:
Hi all-

I'd like a tool that plots a series of joint trajectories. In my work, I continuously re-plan motions, meaning I need each trajectory to spline smoothly at a particular time with the previously commanded trajectory. Having a graphical tool to verify that this is happening correctly would be very useful.

Has anyone already written such a tool?
Otherwise, I guess I'll start getting familiar with rqt and matplotlib...

By the way, rxplot is not sufficient because it can only interpret one number per message.

Thanks!
--Adam


Adam Leeper
PhD Candidate, Stanford BioRobotics Lab
aleeper@stanford.edu
cell: 650.ROBOT.44

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