PlotJuggler

Open-source time-series plotting tool commonly used to inspect ROS topics and log data.

PlotJuggler is an open-source desktop tool by Davide Faconti, built on Qt, dedicated to plotting time-series data as curves. It can read CSV files, ROS/ROS 2 rosbag logs, PX4's ULog format, and other logs, and can also subscribe live to ROS topics, MQTT, ZeroMQ, and other data streams through plugins. Fields can be plotted just by dragging them in, and it supports multiple linked, synchronized-zoom windows and custom formulas — for example, differentiating a velocity signal or computing the difference between two signals. When debugging a robot, it's most commonly used to check whether the actual joint position is keeping up with the commanded one, whether the IMU is noisy, or whether the control loop is running at a stable rate.

ExampleWhile tuning a legged robot, overlay the desired joint angle and the encoder reading on the same plot to spot at a glance which joint is lagging behind its command.

Related

ROS Bag · Robot Operating System 2 · Foxglove Studio · Rerun · RViz / RViz2 · Topic (ROS)

Sources

facontidavide/PlotJuggler (GitHub)
PlotJuggler 官网 (Chinese)