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

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.

4. Press ok in the confirmation dialog.
5. Select/vehicle_cmd_analyzer/debug_values.