From 4bc5c68db7cad55cc351cf84ceb75fd510cf0fe4 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 21 Jul 2020 01:11:31 +0200
Subject: [PATCH] some changes to plot experiment
---
scripts/plotter.py | 41 ++++++++++++++++++++++++++++++++++-------
1 file changed, 34 insertions(+), 7 deletions(-)
diff --git a/scripts/plotter.py b/scripts/plotter.py
index bb3445c..3a9ae7c 100755
--- a/scripts/plotter.py
+++ b/scripts/plotter.py
@@ -3,16 +3,43 @@ from matplotlib import pyplot as plt
import rospy
from panda_mqtt_connector.msg import StampedVelocity
-def plot_x(msg):
- plt.plot(msg.header.stamp.to_sec(), msg.velocity, '*')
- plt.axis("equal")
- plt.draw()
- plt.pause(0.00000000001)
+import numpy as np
+import matplotlib.pyplot as plt
+from matplotlib.animation import FuncAnimation
+
+new_velocity = []
+
+fig, ax = plt.subplots()
+xdata_velocity, ydata_velocity = [], []
+ln, = plt.plot([], [], 'ro')
+
+def callback_velocity(msg):
+ global new_velocity
+ new_velocity += [msg]
+
+def init_velocity():
+ ax.set_xlim(0, 150)
+ ax.set_ylim(-1.2, 3)
+ return ln,
+
+def update_velocity(arg):
+ print "update", arg
+ global new_velocity
+ for msg in new_velocity:
+ xdata_velocity.append(msg.header.stamp.to_sec())
+ ydata_velocity.append(msg.velocity)
+ ln.set_data(xdata, ydata)
+ new_velocity = []
+ return ln,
if __name__ == '__main__':
rospy.init_node("plotter")
- rospy.Subscriber("panda_mqtt_connector/velocity", StampedVelocity, plot_x)
- plt.ion()
+ rospy.Subscriber("panda_mqtt_connector/velocity", StampedVelocity, callback_velocity)
+ # plt.ion()
+ ani = FuncAnimation(fig, update_velocity, None, init_func=init_velocity, blit=True)
plt.show()
+
+
rospy.spin()
+
--
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