rostopic-tviz

Simple tools for visualizing rostopics in the terminal. Scripts do NOT use command-line arguments and are expected to be directly edited for each experimental setup. (This is so you don't need to type a long list of command-line arguments during an experiment.)

Quick Launch

mocap_tviz.py

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/mocap.bag

# terminal 3
$ ./mocap_tviz.py
+--------+------+-------+------+--------+---------+---------+
|        |    x |     y |    z |   roll |   pitch |     yaw |
|--------+------+-------+------+--------+---------+---------|
| agent1 | 0.90 | -3.15 | 0.86 |   0.76 |    0.25 |  111.02 |
| agent2 | 1.41 | -3.27 | 0.85 |   1.20 |   -0.51 | -138.44 |
+--------+------+-------+------+--------+---------+---------+

imu_tviz.py

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/vectornav.bag

# terminal 3
$ ./mocap_tviz.py
+-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------+
|             |   acc_x |   acc_y |   acc_z |   vel_roll |   vel_pitch |   vel_yaw |   roll |   pitch |    yaw |
|-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------|
| microstrain |  nan    |  nan    |  nan    |     nan    |      nan    |    nan    | nan    |  nan    | nan    |
| vectornav   |    7.10 |   -0.26 |   -6.83 |       0.11 |       -0.13 |      0.07 |   1.70 |   46.01 | -12.99 |
+-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------+

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/microstrain.bag

# terminal 3
$ ./mocap_tviz.py
+-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------+
|             |   acc_x |   acc_y |   acc_z |   vel_roll |   vel_pitch |   vel_yaw |   roll |   pitch |    yaw |
|-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------|
| microstrain |   -0.95 |    0.40 |    9.95 |       0.15 |        0.19 |      0.49 |  -4.71 |    0.79 | 176.43 |
| vectornav   |  nan    |  nan    |  nan    |     nan    |      nan    |    nan    | nan    |  nan    | nan    |
+-------------+---------+---------+---------+------------+-------------+-----------+--------+---------+--------+

uwb_tviz.py

# SHOW_ONLY_SPECIFIED
# :: True: cols will only be shown for IDs specified in B_IDS
# :: False: cols will be shown for any ID heard from

# SHOW_ONLY_COUNT
# :: True: shows only number of messages
# :: False: shows mean, std, and number of messages

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/uwb.bag

# terminal 3
# SHOW_ONLY_SPECIFIED = True
# SHOW_ONLY_COUNT = False
$ ./mocap_tviz.py
+----+------------------+------------------+------------------+------------------+------------------+------------------+
|    | n6               | n7               | n8               | n9               | n10              | n11              |
|----+------------------+------------------+------------------+------------------+------------------+------------------|
| n0 | 3.29 ± 0.02 [25] | 2.99 ± 0.03 [25] | 3.68 ± 0.09 [25] | 2.92 ± 0.03 [25] | 3.12 ± 0.03 [25] | 3.32 ± 0.03 [25] |
| n1 | 3.48 ± 0.03 [25] | 3.18 ± 0.03 [25] | 3.07 ± 0.03 [25] | 3.20 ± 0.04 [25] | 3.35 ± 0.03 [25] | 3.57 ± 0.02 [25] |
| n2 | 3.84 ± 0.03 [25] | 3.50 ± 0.02 [25] | 3.38 ± 0.06 [25] | 3.36 ± 0.03 [25] | 3.49 ± 0.03 [25] | 3.93 ± 0.16 [25] |
| n3 | 3.83 ± 0.05 [25] | 3.50 ± 0.05 [25] | 3.54 ± 0.04 [25] | 3.32 ± 0.20 [25] | 3.56 ± 0.04 [25] | 3.79 ± 0.03 [25] |
| n4 | 3.58 ± 0.06 [25] | 3.34 ± 0.05 [25] | 3.41 ± 0.15 [25] | 3.07 ± 0.03 [25] | 3.31 ± 0.04 [25] | 4.14 ± 0.36 [25] |
| n5 | 3.47 ± 0.07 [25] | 3.05 ± 0.04 [25] | 2.94 ± 0.06 [25] | 2.91 ± 0.03 [25] | 3.15 ± 0.04 [25] | 3.78 ± 0.04 [25] |
+----+------------------+------------------+------------------+------------------+------------------+------------------+

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/uwb.bag

# terminal 3
# SHOW_ONLY_SPECIFIED = False
# SHOW_ONLY_COUNT = False
$ ./mocap_tviz.py
+----+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+
|    | n0               | n1               | n2               | n3               | n4               | n5               | n6               | n7               | n8               | n9               | n10              | n11              | n12              | n13              | n14              | n15              | n16              | n17              |
|----+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------|
| n0 | n/a              | 0.11 ± 0.03 [25] | 0.36 ± 0.02 [25] | 0.45 ± 0.02 [25] | 0.32 ± 0.04 [25] | 0.13 ± 0.01 [25] | 3.28 ± 0.03 [25] | 2.99 ± 0.03 [25] | 3.68 ± 0.09 [25] | 2.93 ± 0.03 [25] | 3.12 ± 0.03 [25] | 3.33 ± 0.04 [25] | 3.79 ± 0.19 [25] | 3.52 ± 0.03 [25] | 3.91 ± 0.03 [25] | 4.41 ± 0.04 [25] | 9.86 ± 0.05 [25] | 3.56 ± 0.04 [25] |
| n1 | 0.11 ± 0.03 [25] | n/a              | 0.09 ± 0.05 [25] | 0.30 ± 0.05 [25] | 0.36 ± 0.03 [25] | 0.25 ± 0.05 [25] | 3.48 ± 0.03 [25] | 3.18 ± 0.03 [25] | 3.07 ± 0.03 [25] | 3.20 ± 0.04 [25] | 3.35 ± 0.03 [25] | 3.57 ± 0.01 [25] | 3.04 ± 0.02 [25] | 3.26 ± 0.03 [25] | 3.58 ± 0.04 [25] | 3.69 ± 0.05 [25] | 3.38 ± 0.01 [25] | 3.23 ± 0.04 [25] |
| n2 | 0.36 ± 0.03 [25] | 0.09 ± 0.05 [25] | n/a              | 0.09 ± 0.04 [25] | 0.34 ± 0.03 [25] | 0.43 ± 0.03 [25] | 3.83 ± 0.03 [25] | 3.51 ± 0.03 [25] | 3.38 ± 0.04 [25] | 3.36 ± 0.02 [25] | 3.49 ± 0.04 [25] | 4.02 ± 0.19 [25] | 3.92 ± 0.05 [25] | 2.97 ± 0.04 [25] | 3.25 ± 0.03 [25] | 3.31 ± 0.08 [25] | 3.38 ± 0.56 [25] | 2.92 ± 0.06 [25] |
| n3 | 0.45 ± 0.02 [24] | 0.30 ± 0.04 [24] | 0.09 ± 0.04 [24] | n/a              | 0.09 ± 0.08 [24] | 0.31 ± 0.03 [24] | 3.84 ± 0.05 [24] | 3.49 ± 0.06 [24] | 3.53 ± 0.03 [24] | 3.30 ± 0.02 [24] | 3.57 ± 0.03 [24] | 3.79 ± 0.02 [24] | 2.88 ± 0.43 [24] | 3.03 ± 0.04 [24] | 3.34 ± 0.05 [24] | 3.30 ± 0.04 [24] | 2.99 ± 0.06 [24] | 3.25 ± 0.17 [24] |
| n4 | 0.32 ± 0.03 [25] | 0.36 ± 0.03 [25] | 0.34 ± 0.03 [25] | 0.10 ± 0.04 [25] | n/a              | 0.11 ± 0.06 [25] | 3.58 ± 0.05 [25] | 3.34 ± 0.06 [25] | 3.43 ± 0.15 [25] | 3.07 ± 0.04 [25] | 3.30 ± 0.03 [25] | 4.22 ± 0.16 [25] | 3.07 ± 0.03 [25] | 3.31 ± 0.04 [25] | 3.55 ± 0.02 [25] | 3.49 ± 0.04 [25] | 3.26 ± 0.05 [25] | 3.07 ± 0.07 [25] |
| n5 | 0.13 ± 0.02 [25] | 0.25 ± 0.05 [25] | 0.43 ± 0.03 [25] | 0.31 ± 0.03 [25] | 0.07 ± 0.07 [25] | n/a              | 3.47 ± 0.05 [25] | 3.05 ± 0.03 [25] | 2.94 ± 0.07 [25] | 2.91 ± 0.03 [25] | 3.15 ± 0.04 [25] | 3.79 ± 0.06 [25] | 3.44 ± 0.04 [25] | 3.53 ± 0.04 [25] | 3.78 ± 0.08 [25] | 3.82 ± 0.05 [25] | 3.46 ± 0.04 [25] | 3.52 ± 0.25 [25] |
+----+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+------------------+

# terminal 1
$ roscore

# terminal 2
$ rosbag play -l bag/uwb.bag

# terminal 3
# SHOW_ONLY_SPECIFIED = True
# SHOW_ONLY_COUNT = True
$ ./mocap_tviz.py
+----+------+------+------+------+-------+-------+
|    | n6   | n7   | n8   | n9   | n10   | n11   |
|----+------+------+------+------+-------+-------|
| n0 | [25] | [25] | [25] | [25] | [25]  | [25]  |
| n1 | [25] | [25] | [25] | [25] | [25]  | [25]  |
| n2 | [25] | [25] | [25] | [25] | [25]  | [25]  |
| n3 | [25] | [25] | [25] | [25] | [25]  | [25]  |
| n4 | [25] | [25] | [25] | [25] | [25]  | [25]  |
| n5 | [25] | [25] | [25] | [25] | [25]  | [25]  |
+----+------+------+------+------+-------+-------+