uNav – Data plotting with rqt_graph

In order to monitor uNav data I suggest the rqt_plot ROS node usage.

You can start it in a console with this 2 command to see 2 different plot, a plot for right channel and another for left channel:

 

rosrun rqt_plot rqt_plot \
/unav/right_joint/control/current \
/unav/right_joint/control/effort \
/unav/right_joint/control/position \
/unav/right_joint/control/pwm \
/unav/right_joint/control/velocity \
/unav/right_joint/measure/current \
/unav/right_joint/measure/effort \
/unav/right_joint/measure/position \
/unav/right_joint/measure/pwm \
/unav/right_joint/measure/velocity &

 

rosrun rqt_plot rqt_plot \
/unav/left_joint/control/current \
/unav/left_joint/control/effort \
/unav/left_joint/control/position \
/unav/left_joint/control/pwm \
/unav/left_joint/control/velocity \
/unav/left_joint/measure/current \
/unav/left_joint/measure/effort \
/unav/left_joint/measure/position \
/unav/left_joint/measure/pwm \
/unav/left_joint/measure/velocity &&

The command can be writed in this compact form:

rosrun rqt_plot rqt_plot \
/unav/left_joint/control/current:effort:position:velocity \
/unav/left_joint/measure/current:effort:position:velocity &&

 

rosrun rqt_plot rqt_plot \
/unav/right_joint/control/current:effort:position:velocity \
/unav/right_joint/measure/current:effort:position:velocity &&

 

You can see the result in this image:

I configured Axis with the Green Check icon:

 

This is my Setup :

 

This is a typical rtt_plot plotting:

I don’t know how to do this setup directly in startup command… have you any suggestion?

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