Hi Adam,
the rqt GUI has a 2D plotter rqt_plot that can plot numerical data
from messages.
It is very similar to rxplot, but there is no restriction (as far
as I know) on how many variables can be plotted. It's just
dependent on you CPU power...
rqt_plot has three different drawing backends selectable from it's
configuration menu:
- qwt plot (fast, but not using message timestamps and needs
python-qwt bindings)
- pyqtgraph (fast and needs pyqtgraph to be installed which is not
in the repos)
- matplotlib (slow but always available)
Hope that helps.
Cheers,
Dorian
On 21/03/13 16:53, Adam Leeper 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
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Dipl.-Inform. Dorian Scholz E-Mail:scholz(at)sim.tu-darmstadt.de
Simulation, Systems Optimization Phone: +49 (0) 6151 16-4811
and Robotics Group Fax: +49 (0) 6151 16-6648
Technische Universität Darmstadt http://www.sim.tu-darmstadt.de
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