Rqt command

rqt It's based on qt Development of visualization tools , It has good expansibility 、 Flexible and easy to use 、 Cross platform features , The main function and RViz Consistency is all about visualization , But and RViz comparison ,rqt It's a higher level .

Relevant command

command	effect
rqt_graph	Display the communication architecture
rqt_plot	draw a curve
rqt_console	Check the log
rqt_graph	Display the communication architecture

rqt_console
rqt_console There are some filters in the , You can use it to easily find the required logs .

rqt_graph To show the communication architecture , That is node 、 Theme, etc , What are currently Node and topic Running , How the message flows , Can be displayed through this statement .

rqt_plot
rqt_plot Put some parameters , In particular, the dynamic parameters are drawn in the form of curves . View the original data of the robot during development , We can make use of rqt_plot Draw these raw data with a curve , Very intuitive , It is helpful for us to analyze the data .