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Package Summary

The rqt_joint_trajectory_plot package

  • Maintainer status: developed
  • Maintainer: Tokyo Opensource Robotics Kyokai (TORK) Developer Team <dev AT opensource-robotics.tokyo DOT jp>
  • Author: Ryosuke Tajima <ryosuke.tajima AT gmail DOT com>
  • License: MIT
  • Source: git https://github.com/tork-a/rqt_joint_trajectory_plot.git (branch: master)

Package Summary

The rqt_joint_trajectory_plot package

  • Maintainer status: developed
  • Maintainer: Tokyo Opensource Robotics Kyokai (TORK) Developer Team <dev AT opensource-robotics.tokyo DOT jp>
  • Author: Ryosuke Tajima <ryosuke.tajima AT gmail DOT com>
  • License: MIT
  • Source: git https://github.com/tork-a/rqt_joint_trajectory_plot.git (branch: master)

Contents

  1. Introduction

Introduction

This package is to plot JointTrajectory message and JointTrajectoryGoal action in real time.

Example in UR5:

Launch fake joint driver for UR5.

 $ roslaunch fake_joint_launch ur5.launch 

Then launch MoveIt!

 $ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true 

Now you can control the UR5 using MoveIt.

Then run rqt and add JointTrajectoryPlot plugin. Choose the trajectory topic.

 $ rqt 

Then you can plot each joint position, velocity and acceleration.


2019-10-12 13:05