Robot Operating System Cookbook

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Moreover, we can also plot each field in a separate window that is not supported by rqt_plot directly. Nevertheless, we can use the rqt_gui tool and plot each field in parallel in the separate window, which can be arranged manually after starting the rqt_gui tool, as follows:

$ rosrun rqt_gui rqt_gui

We will get the following output:

rqt_gui plotting non-scalar data

The rqt_plot supports plotting three GUI frontends, as shown in the following screenshot. We can access and select them from the configuration button.

However, we will select the MatPlot frontend since it supports more time series simultaneously:

rqt_plot GUI frontends ...