Signal Scope

signal-scope is a live plotting tool for ROS messages.

Main Features

Can plot dozens of signals a 1kHz. It was heavily used to develop walking robot locomotion control (Boston Dynamics Atlas and ANYbotics ANYmal)
Can 'pause' the scope to zoom in on event of interest for in-situ debugging.
Represents time in seconds to a starting point (many other tools just use unique time)
Can dynamically rescale duration and magnitude when using it
Python macros allow simple conversions - quaternion to Euler angles, 3D norm etc

Build Instructions

In a ROS catkin workspace. Currently tested on Melodic:

git clone git@github.com:ori-drs/PythonQt.git python_qt
git clone git@github.com:ori-drs/ctkPythonConsole.git ctk_python_console
git clone git@github.com:ori-drs/signal_scope.git signal_scope
catkin build signal_scope

Running It

A configuration is specified in an simple python script.

roscd signal_scope/examples
rosrun signal_scope signal_scope example_ros_anymal.py

This example has conversions to euler angles, velocity and plot configuration

See the 'examples' directory for scripts demonstrating the basic usage of signal-scope.

Credits

Originally developed for the MIT DARPA Robotics Challenge Team by Pat Marion. Now maintained by Oxford Dynamic Robot Systems Group.