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How can I see the velocity response graph?

asked 2015-04-15 08:58:20 -0500

Alvaro Salcedo gravatar image

Hello ROS users:

I am using linux 14.04, Ros indigo and Gazebo2. I would like to know how I can visualize the velocity response graph of my p3dx model. I explain it: I have a p3dx model in Gazebo and I send angular and linear velocity to it with "rostopic pub..." , so I would like to visualize the velocity response of the model p3dx with rqt because I want to know the time constant of my model. It seems like pose turtlebox in this tutorial (point 1.5) but with /p3dx/cmd_vel topic to visualize.

How can I do that?

Thank you so much!

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answered 2015-04-15 11:49:27 -0500

marcoesposito1988 gravatar image

It depends on the controller you are using.

For example the joint_trajectory_controller publishes a control_msgs::JointTrajectoryControllerState which already includes "error" as a field, that you can directly plot.

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First of all, thanks for you reply!

What do you mean with controller? I think I have to subcribe to a topic (I don´t know in wich one) for obtain the velocity response. But maybe I can do that with rqt but I don´t know how. did you mean that I can visualize the trajectory Controller in rqt? Thanks

Alvaro Salcedo gravatar image Alvaro Salcedo  ( 2015-04-15 18:42:09 -0500 )edit

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Asked: 2015-04-15 08:58:20 -0500

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Last updated: Apr 15 '15