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Robot Operating System Cookbook

You're reading from   Robot Operating System Cookbook Over 70 recipes to help you master advanced ROS concepts

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Product type Paperback
Published in Jun 2018
Publisher Packt
ISBN-13 9781783987443
Length 484 pages
Edition 1st Edition
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Author (1):
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Kumar Bipin Kumar Bipin
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Kumar Bipin
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts I 3. ROS Architecture and Concepts – II 4. ROS Visualization and Debugging Tools 5. Accessing Sensors and Actuators through ROS 6. ROS Modeling and Simulation 7. Mobile Robot in ROS 8. The Robotic Arm in ROS 9. Micro Aerial Vehicles in ROS 10. ROS-Industrial (ROS-I) 11. Other Books You May Enjoy

Visualizing and plotting scalar data

ROS already has generic tools to plot scalar data. These tools can also be used for plotting non-scalar data, but each scalar field needs to be plotted separately in order to show less information. Alternately, ROS has powerful visualization tools for non-scalar or vector data, which we will discuss in the next section.

Getting ready

In this section, we will learn that scalar data can be plotted as a time series, where time is provided by the timestamps of the messages. We can use the y axis to plot scalar data versus timestamps along the x axis. ROS has a GUI tool called rqt_plot, which will do this for us.

To see rqt_plot in action, we will use the program4 node which publishes scalar...

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