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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Plotting scalar data

Scalar data can be easily plotted with generic tools already available in ROS. Even non-scalar data can be plotted, but with each scalar field plotted separately. That is why we talk about scalar data, because most non-scalar structures are better represented with ad-hoc visualizers, some of which we will see later; for instance, images, poses, orientation/attitude, and so on.

Creating a time series plot with rqt_plot

Scalar data can be plotted as a time series over the time provided by the timestamps of the messages. Then, in the y axis, we can plot our scalar data. The tool for doing so is rqt_plot. It has a powerful argument syntax, which allows you to specify several fields of a structured message in a concise manner; we ...

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