marcusvinicius178
commented
3 years ago Hi David in addition I have other question About mirror/rotate the data in turn of some axis?
....I was able to plot all the data now, converting the topics to csv, afterwards replace all the comma to dot in values. Then Plotjuggler was able to interpret the data without close suddenly.
Buit now I have another issue. I wish to show the planners behavior visually as a bird-view video that I have done. My plot of the 3 planners is below:
However I wish to Mirror/Rotate the data in turn of Y axis, so the curve that you see going to left side and later returning to the center should be the opposite, should go to the right of the center and later return to center....
Is this possible? Mirror the path drawed in turn of the Y axis?
To be more clear I would like something like this:
However the image above is wrong! I have done this trick with an online mirror tool: https://www.resizepixel.com/download
But I think you got the idea... How Can I do this rotation, axis inversion, in PlotJuggler?
facontidavide
Hi David At first congratulations for ROS Award and this tool that is amazing. I hope saves time to me (I am in a hurry to send my master thesis in few days...)
Problem description
Ok, I have a huge amount of data in my Rosbag topic, Actually I am plotting the car-like robot position in X,Y Plot. Plot Juggler is not plotting the first 2400 rows, it is plotting just after these rows, from row 2447 to 4000. Is there limitations in size or points to plot?
My Robot starts at position.x = 45 and y = 5 -------X = longitudinal, forward move and finishes in the position x= -36 and y = 3.3 (there are LGSVL world coordinates) -----lateral move
So my car starts driving forward from x=45 until x=-36 it deviates from an obstacle (truck) and then y (lateral control) is changing during the car's move
Just take a look what happens in images:
The Global Path in Blue
The local planner in green is activated and start distorting the global planner and change the coordinates in y (lateral)
However I do not have the data in separate points (local vs global topics). I just have final waypoints. That When I plotted them in PlotJuggler I got this draw:
And I was expecting this plot, That I have done with an online graphs plot: https://datawrapper.dwcdn.net/it3p1/1/:
If you check the graph already starts in x = -5 meters and should starts at x = 45
The direction is inverted the move starts from right to left ( on x coordinates) In this graph you can check that the y point (at right- end of graph), already starts in y = -3 meters and then finishes in y = 3.3 But also O should see more to the right (The first data are hidden or were cut) I should see y beginning at y =5
Maybe the short video below will make this more clear
https://youtu.be/wOs4B3HTOWY
As you can check it is missing data in the right of the graphic... Is there a limit of rows to plot or/and visualize in X,Y plot? Or am I doing something wrong?
Steps to reproduce (important)
sudo apt-get install ros-noetic-plotjuggler*
Sorry I did not understood the procedure above
OK I will share the csv and the rosbag just dowload from my drive https://drive.google.com/drive/folders/1fQgylfyEeyme0t5DfBNwNJD3j1ujUdox?usp=sharing
STEPS TO REPRODUCE
1- Load data from teh "final_waypoints.csv" file or the topic "/final_waypoints" topic from rosbag 2 - Choose data from the columns "field.waypoints0.pose.pose.position.x" and "field.waypoints0.pose.pose.position.y" to plot. Drag with the right bottom of the mouse to plot with the option "X,Y Plot" 3- Compare with the CSV and you will check that is missing the first rows data (about the first 2400 rows) it is plotting just after the row 2443 until 3951)
It is missing the first 2400 rows to plot
Could you please assist me here Mr. David?
Thanks in advance