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There are many tools to plot.

- rqt_plot

- rqt_multiplot (from ethz) tool is quite nice to use (compared to rqt_plot)

-plot_juggler this is my favourite tool its so fast plotting data and so easy to use! Try it yourself!

Install:

sudo apt-get install ros-kinetic-plotjuggler

Run it:

• rosrun plotjuggler PlotJuggler
• Go to streaming and start ros_topic_streaming
• simply select your topics you wanna stream

Start in launch file:

<!-- start plotjuggler -->
<node pkg="plotjuggler" type="PlotJuggler" name="my_plot_Juggler" args="" />

If anyone knows how to start from launch file a saved layout.xml Would be great for sharing :)