plot tf poses

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(tf_plot)

find_package(catkin REQUIRED)

demo.launch

<launch>
  <!-- publish world <- earth <- moon transforms -->
  <node pkg="tf_plot" type="test_tf.py" name="test_tf" />

  <!-- 1) publish as PoseStamped -->
  <node pkg="jsk_topic_tools" type="tf_to_pose.py" name="tf_pose" >
    <rosparam>
      src_frame: world
      dst_frame: moon
      rate: 1000
    </rosparam>
  </node>

  <!-- 2) publish as TF via Transform -->
  <node pkg="jsk_topic_tools" type="tf_to_transform.py" name="tf_transform" >
    <rosparam>
      parent_frame_id: world
      child_frame_id: moon
      duration: 1.0
      rate: 1000
    </rosparam>
  </node>
  <node pkg="topic_tools" type="transform" name="transform"
	args="/tf_transform/output /tf tf2_msgs/TFMessage
	      'tf2_msgs.msg.TFMessage([geometry_msgs.msg.TransformStamped(header=m.header, child_frame_id=&quot;moon2&quot;, transform=m.transform)])' --import tf2_msgs geometry_msgs --wait-for-start"/>

  <!-- https://answers.ros.org/question/193512/rebroadcast-tf-transforms-with-different-frame_id-on-the-fly/
  <node pkg="tf_plot" type="transform_inverter.py" name="transform_inverter" >
    <rosparam>
      parent_frame: /world
      child_frame: /moon
      new_parent_frame: /moon2
    </rosparam>
  </node>
  -->

  <!-- 3) publish as Path -->
  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server">
    <rosparam>
      target_frame_name: world
      source_frame_name: moon
      trajectory_update_rate: 1000
      trajectory_publish_rate: 10
    </rosparam>
  </node>

  <!-- visualize world <- moon -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find tf_plot)/rviz.rviz" />

  <!-- visualize both TF and PoseStamped -->
  <!-- wait for https://github.com/facontidavide/PlotJuggler/issues/201
  <node pkg="plotjuggler" type="plotjuggler" name="plotjuggler" args="-l $(find tf_plot)/plot.xml" />
  -->

  <!-- visualize PoseStamped -->
  <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot" args="-e /tf_pose/output/pose/position/x /tf_pose/output/pose/position/y" />


</launch>

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>tf_plot</name>
  <version>0.0.0</version>
  <description>The tf_plot package</description>

  <maintainer email="kei.okada@gmail.com">k-okada</maintainer>

  <license>BSD</license>
  <buildtool_depend>catkin</buildtool_depend>

  <depend>hector_trajectory_server</depend>
  <depend>jsk_topic_tools</depend>
  <depend>jsk_rviz_plugin</depend>
  <depend>plotjuggler</depend>
  <depend>rviz</depend>
  <depend>rqt_plot</depend>
  <depend>tf</depend>

  <export>
  </export>
</package>

plot.xml

<?xml version='1.0' encoding='UTF-8'?>
<root version="2.3.8">
 <tabbed_widget parent="main_window" name="Main Window">
  <Tab containers="1" tab_name="tab1">
   <Container>
    <DockSplitter sizes="1" orientation="-" count="1">
     <DockArea name="...">
      <plot style="Lines" mode="TimeSeries">
       <range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
       <limitY/>
      </plot>
     </DockArea>
    </DockSplitter>
   </Container>
  </Tab>
  <currentTabIndex index="0"/>
 </tabbed_widget>
 <use_relative_time_offset enabled="1"/>
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <Plugins>
  <plugin ID="DataLoad CSV">
   <default time_axis=""/>
  </plugin>
  <plugin ID="DataLoad ROS bags">
   <use_header_stamp value="false"/>
   <use_renaming_rules value="true"/>
   <discard_large_arrays value="true"/>
   <max_array_size value="100"/>
  </plugin>
  <plugin ID="DataLoad ULog"/>
  <plugin ID="LSL Subscriber"/>
  <plugin ID="MQTT Subscriber"/>
  <plugin ID="ROS Topic Subscriber">
   <use_header_stamp value="true"/>
   <use_renaming_rules value="true"/>
   <discard_large_arrays value="true"/>
   <max_array_size value="100"/>
  </plugin>
  <plugin ID="UDP Server"/>
  <plugin ID="WebSocket Server"/>
  <plugin ID="ZMQ Subscriber"/>
  <plugin status="idle" ID="CSV Exporter"/>
  <plugin status="idle" ID="ROS /rosout Visualization"/>
  <plugin status="idle" ID="ROS Topic Re-Publisher"/>
 </Plugins>
 <!-- - - - - - - - - - - - - - - -->
 <previouslyLoaded_Datafiles/>
 <!-- - - - - - - - - - - - - - - -->
 <customMathEquations/>
 <snippets/>
 <!-- - - - - - - - - - - - - - - -->
</root>

rviz.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /TFTrajectory1
        - /Path1
      Splitter Ratio: 0.5
    Tree Height: 549
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        earth:
          Value: true
        moon:
          Value: true
        moon2:
          Value: true
        world:
          Value: true
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          earth:
            moon:
              {}
          moon2:
            {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.10000000149011612
      Head Radius: 0.10000000149011612
      Name: Pose
      Queue Size: 10
      Shaft Length: 0.10000000149011612
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /tf_pose/output
      Unreliable: false
      Value: true
    - Class: jsk_rviz_plugin/TFTrajectory
      Enabled: true
      Name: TFTrajectory
      Value: true
      color: 25; 255; 240
      duration: 5
      frame: moon
      line_width: 0.009999999776482582
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0.20000000298023224
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 1
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /trajectory
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 10
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.785398006439209
      Target Frame: <Fixed Frame>
      Yaw: 0.785398006439209
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1200
  X: 72
  Y: 27

test_tf.py

#!/usr/bin/env python

import rospy
import time
import tf
import math

if __name__ == '__main__':
    rospy.init_node('test_tf')
    br = tf.TransformBroadcaster()
    rate = rospy.Rate(10.0)
    i = 0
    while not rospy.is_shutdown():
        now = rospy.Time.now()
        print(now.secs % 10)
        if now.secs % 3 != 0:
            i = i + 0.05 * math.pi

        br.sendTransform((3.0 * math.sin(i), 3.0 * math.cos(i), 0.0),
                         (0.0, 0.0, 0.0, 1.0),
                         now,
                         "earth",
                         "world")
        br.sendTransform((math.cos(3.0 * i), math.sin(3.0 * i), 0.0),
                         (0.0, 0.0, 0.0, 1.0),
                         now,
                         "moon",
                         "earth")
        rate.sleep()