Hi,
I know this could be a stupid question, but as I am new with this toolbox
and with the python programming, it is not trivial for me.
I am loading some data, and I end up with 3 pair of vectors x and y
containing the data i want to plot. the result are three lines in the plot.
And everything is fine so far.
However i would like to change the grid parameters, for having a
customizable x and y spacing for the grid. If possible, I also would like
to change the "markerSize" of the
lines, to have them more clear and visible.
This is my code:
#!/usr/bin/env python
# modules
# ROS stuff and multithreading
import rospy
import rosbag
import sys
from pyqtgraph.Qt import QtGui, QtCore
import numpy as np
import pyqtgraph as pg
if __name__ == '__main__':
rospy.init_node('plotting')
# Open the required bag file
bag = rosbag.Bag( sys.argv[1] )
# Obatin the real path that the robot has followed
x_real = []
y_real = []
for topic, robot, t in bag.read_messages(topics=['/RobotPosture']):
x_real.append(robot.position.x)
y_real.append(robot.position.y)
# Obtain an estimation of the path odometry based
x_odom = []
y_odom = []
for topic, odom, t in bag.read_messages(topics=['/RobotOdometry']):
x_odom.append(odom.pose.pose.position.x)
y_odom.append(odom.pose.pose.position.y)
# Obain the path that the estimator has computed
x_estm = []
y_estm = []
for topic, estm, t in bag.read_messages(topics=['/EstimatedPosture']):
x_estm.append(estm.pose.position.x)
y_estm.append(estm.pose.position.y)
# Obtain information about the measurements
x_m = []
y_m = []
for topic, meas, t in bag.read_messages(topics=['/Measurements']):
x_m.append(meas.pose.position.x)
y_m.append(meas.pose.position.y)
# No need of the bag file anymore
bag.close()
# Start the console
app = QtGui.QApplication([])
# Create a window
win = pg.GraphicsWindow(title="Trajectories, measurements and
distances")
win.resize(1000,600)
win.setWindowTitle('Trajectories, measurements and distances')
# Enable antialiasing for prettier plots
pg.setConfigOptions(antialias=True)
p1 = win.addPlot(title="Trajectories")
p1.addLegend()
p1.plot(x_real, y_real, pen=(255,0,0), name="Real path")
p1.plot(x_odom, y_odom, pen=(0,255,0), name="Odometry path")
p1.plot(x_estm, y_estm, pen=(0,0,255), name="Estimated path")
p1.plot(x_m, y_m, pen=None, symbol='o')
p1.setLabel('left', "Y Axis", units='m')
p1.setLabel('bottom', "X Axis", units='m')
p1 = pg.gridItem().setTickSpacing(x=[1.0], y=[1.0])
p1.showGrid(x=True, y=True)
QtGui.QApplication.instance().exec_()
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