Data playback partner rviz+plotjuggler

Plotjuggler brief introduction

PlotJuggler Is a similar to rqt_plot Based on the Qt Data visualization tools for . but PlotJuggler Have more powerful and easy-to-use functions . You can import a text file and let it display the data in the text file . You can also import ros Of bag package , It can automatically parse bag Data in the package . And can be played back bag Packet data , And then use Rviz To display data .PlotJuggler There are many functions of , Here are just a few functions I often use . It should be enough to cope with the daily robot development and debugging work .

Plotjuggler Official website ：

https://www.plotjuggler.io/

github Address ：

https://github.com/facontidavide/PlotJuggler

install Plotjuggler

Pay attention to the , If it's coordination ROS1 To use , Recommended installation PlotJuggler 2.X.X, If it's coordination ROS2 To use , It is recommended to install PlotJuggler 3.X.X.

Based on binary AppImage Files installed

You can download it directly on the binary file download page .

Download Web page ：https://github.com/facontidavide/PlotJuggler/releases

After downloading the file, you need to add execution permission to the file , Then double click to open and use .

ROS Binary installation （ recommend ）

Use the following command ：

sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros

function Plotjuggler

about ROS1

rosrun plotjuggler plotjuggler

about ROS2

ros2 run plotjuggler plotjuggler

You can also use this command when upgrading a new version

sudo apt-get update
sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros

Source code installation

In this way , You may be right Plotjuggler The code of . There are two cases of source code compilation , And ROS Irrelevant source code compilation and Need and ROS Joint use of source code compilation .

If you pull github The code is slow , Try to use github Download acceleration tools https://ghproxy.com/ .

• And ROS Irrelevant source code compilation

Cloning of warehouse

git clone https://github.com/facontidavide/PlotJuggler.git

Install pre compile dependencies

sudo apt -y install qtbase5-dev libqt5svg5-dev libqt5websockets5-dev libqt5opengl5-dev libqt5x11extras5-dev libprotoc-dev

compiling

 mkdir build; cd build
 cmake ..
 make
 sudo make install

Be careful ： Compiling in this way is not ROS Related plug-ins .

• Need and ROS Joint use of source code compilation

about ROS1

1. Create a workspace and pull the code

 mkdir -p ~/ws_plotjuggler/src
 cd ~/ws_plotjuggler/src
 git clone https://ghproxy.com/https://github.com/PlotJuggler/plotjuggler_msgs.git
 git clone https://ghproxy.com/https://github.com/facontidavide/PlotJuggler.git
 git clone https://ghproxy.com/https://github.com/PlotJuggler/plotjuggler-ros-plugins.git

1. Resolve dependencies and compile

cd ~/ws_plotjuggler
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make

1. start-up Plotjuggler

source devel/setup.bash
roslaunch plotjuggler_ros plotjuggler.launch

about ROS2 Galactic

1. Create a workspace and pull the code

 mkdir -p ~/ws_plotjuggler/src
 cd ~/ws_plotjuggler/src
 git clone https://ghproxy.com/https://github.com/PlotJuggler/plotjuggler_msgs.git -b ros2
 git clone https://ghproxy.com/https://github.com/facontidavide/PlotJuggler.git
 git clone https://ghproxy.com/https://github.com/PlotJuggler/plotjuggler-ros-plugins.git -b galactic

1. Resolve dependencies and compile

cd ~/ws_plotjuggler
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
colcon build

1. start-up Plotjuggler

source install/setup.bash
ros2 run plotjuggler plotjuggler

use Plotjuggler Show robot path

Save the robot trajectory as CSV file

Use the following example code to store the position of the robot . Other data can be stored in a similar way .

#include <fstream>
#include <ios>
#include <iostream>
#include <string>
#include <vector>

struct Pose
{
    
    double x;
    double y;
}

void saveCvsFile(std::string file_name, std::vector<Pose> path)
{
    
    std::ofstream outfile;
    outfile.open(file_name.c_str(), std::ios::trunc);
    outfile << "x"
        << ","
        << "y"
        << ","
        << "yaw"
        << ","
        << "num" << std::endl;
    int num_count = 0;
    for (int i = 0; i < path->size(); ++i)
    {
    
        outfile << path->at(i).x << "," << path->at(i).y << ","  
            << path->at(i).yaw << "," << num_count << std::endl;
        num_count++;
    }
    outfile.close();
}

Plotjuggler Show CSV File path

open Plotjuggler, Choose Data load CSV file .

choice num As x Axis

Show ROS bag Data in

Recording bag The order of

ros2 bag record -o bagname  Topic name 

Example ：

ros2 bag record -o turtlebot /turtle1/cmd_vel /turtle1/pose

Plotguggler load ROS2 bag

Here to load ROS2 Records of the bag For example . about ROS1 bag, The operation process is similar .

ros bag The data in is recorded in chronological order , So in Plotguggler You can drag the progress bar to view the data content at different time points . This function is too convenient for debugging .

subscribe ROS topic of conversation

Click below to start Button to start subscribing to topic data , Click on stop End topic subscription . Then you can see the recorded data at the bottom left .

Plotguggler The playback ROS2 bag,Rviz Display the data

At present, this function is in ROS2 There are still problems in the environment .Plotguggler Of github Relevant have been opened in Issue, But the author doesn't seem to revise it completely . There is still the problem of collapse .Plotguggler 2.x.x The version of is in ROS1 It can be used normally in the environment . Drag the progress bar , The recorded topic data can be played at any rhythm .

Issue website :

Segmentation Fault when trying to topic Re-Publisher