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ros2_plot

​ A ROS2 package that leverages shared memory to visualize waveforms using PlotJuggler, a state-of-the-art tool for real-time data analysis and visualization. This package allows you to work with high-performance, advanced visualization capabilities without being restricted to simulators or tools that are ROS-centric or lack ROS support.

0 Optional

sudo apt install ros-{ROS-DISTRO}-plotjuggler-ros

1 Build

mkdir -p ros2_plot_ws/src && cd ros2_plot_ws/src
git clone https://github.com/HuNingHe/ros2_plot.git
cd ../
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

2 Usage

source install/setup.bash
ros2 run ros2_plot ros2_plot

​ Run another program, such as the ankle controller closed_loop_ankle. Once the terminal displays “[ros2_plot]: Start publishing data”, it indicates that the data in shared memory has been published and you can proceed to visualize it using PlotJuggler.

​ You can refer to the ankle controller closed_loop_ankle as a guide to writing your own program.

3 Test

​ Tested exclusively on Ubuntu 24.04 and ROS2 Jazzy. Please report any bugs you encounter.