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^^

I got the solution already,

by debugging I figure out that in file rxplot_main.py in package rxtools has an bug in line 90 and 92 , I comment out these line

 #if len(flat_topics) < 2 or len(flat_topics) > 3:
 #parser.error("You may only specific 2 or 3 topics with '3d' or 'scatter'.\nWhen 2 topics are provided, time is used as the third axis.")

and plot

rxplot -M 3d /master_position/x:y:z

work very well