I’ve been working on simulating the UR10 in Gazebo, simulating the
tracketory_msgs/JointTrajectory interface with
gazebo_ros_control and I’ve been spending a lot of time tuning the controller. To help with that I’ve been using lots of instances of the plot plugin in
rqt to plot the joint states of the arm to find position biases, look at the response curve, look for oscillations, and to see if I’m getting close to my effort and velocity limits. I’ve found a few frustrating things with using lots of individual plots, like not easily being able to line up the x-axis scales, having non-descriptive legends (e.g.
/joint_states/position rather than
elbow_joint), and generally taking a lot of steps to introspect an additional part of the joint state.
So my question is, are there any tools out there that you guys use that make this easier to do? If not, do you guys think it would be nice to have an rqt plugin dedicated to plotting joint states?
I know this has a little more to do with ROS control than moveit, but it was the closest matching category on discourse.