pitch checker

The role of this node is to visualize pitch of driving route. The source of pitch is tf (map->base_link).

How to visualize

Collect data

launch data collector node

ros2 launch pitch_checker pitch_checker.launch.xml

save file to data

ros2 service call /pitch_checker/save_flag std_srvs/srv/Trigger {}

(The pitch data is saved at <YOUR WORKSPACE>/install/pitch_checker/share/pitch_checker/pitch.csv)

Visualize data

ros2 launch pitch_checker view_pitch.launch.xml

The view_pitch.launch loads the data stored in the default path and visualize it is as below. The pitch angle [rad] is shown on the left plot, the value of the z-coordinate [m] on the right plot.