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We had a student in our lab who implement a real-time plotting tool that worked pretty well under ROS (but also supports YARP) displaying numerous trajectories at high frequencies. Rxplot used to not deliver in those situations. You can have a look at it here:

https://code.google.com/p/streamvis/

I am still using the tool under fuerte. Don't know if it works under groovy out of the box. The user community is pretty small but the tool is still supported. In case you encounter installation problems do not hesitate to send an email. ;)