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Vehicle Command Analyzer description

Overview

This is a visualization tool for vehicle commands. You need plotjuggler to plot.

The following time series data will be plotted on the left side.

  • Velocity
  • Acceleration (acceleration and derivative of velocity)
  • Jerk (derivative of acceleration and second derivative of velocity)
  • Lateral acceleration

The following data will be plotted on the right side.

  • XY plot of jerk-acceleration

Plotted data

How to use

  1. Launch the node.

    ros2 launch vehicle_cmd_analyzer vehicle_cmd_analyzer.launch.xml vehicle_model:=lexus
  2. Launch plotjuggler.

    ros2 run plotjuggler plotjuggler
  3. Load layout.xml from File->Layout. Load layout.xml

  4. Press ok in the confirmation dialog.

  5. Select/vehicle_cmd_analyzer/debug_values. Select topic