RobotTrajectoryAnalyzer

Dependencies

• UIMA C++ 2.4.0 - set the UIMACPP_HOME environment variable!
• MongoDB C++ Legacy Driver, 1.0.3
• ROSCPP Indigo
• rqt_plot
• PyQtGraph (optional but recommended)

Compile

$ catkin_make

Run

Requires mongod and roscore running.

$ source ./devel/setup.bash
$ rosrun rta_nodes plot -loop -echo -rate=100 -database=dummy1

All flags are optional. Default rate is 1000 and default database is dummy1. The application will prompt you with a rqt_plot command which has to be executed in an independent terminal window - the plot will then be populated with data by the chosen topics.

rqt_plot is most useful if used with PyQtGraph and its auto scaling functionality (buttom on the bottom left of the plot).

Example Runs

Acceleration

All joints, dummy1 dataset.

Position + Velocity

Left shoulder lift joint, dummy1 dataset.

On the left you see an example terminal output: First the application asks for a list of joints to plot and then for a view to plot. Given this information a rqt_plot command is generated before the publishing is initiated.

Position + Velocity + Movement

Left shoulder lift joint, dummy1 dataset.

The graph shows an obvious limitation of rqt_plot: Teal and pink describe different movement directions which are only relevant in specific parts of the plot but plot as 0 values when not relevant. Therefore the plot looks rather noisy.

Position Error 1

• rosrun rta_nodes plot -database=collision4
• 35) l_elbow_flex_joint
• 3) Position Error

Position Error 2

• rosrun rta_nodes plot -database=collision4
• 35) l_elbow_flex_joint and 21) r_elbow_flex_joint
• 3) Position Error

Oscillation

• rosrun rta_nodes plot -database=oscillation3
• 33) l_shoulder_lift_joint
• 1) Position Velocity