Contents
Introduction
This package is to plot JointTrajectory message and JointTrajectoryGoal action in real time.
Example in UR5:
Launch fake joint driver for UR5.
$ roslaunch fake_joint_launch ur5.launch
Then launch MoveIt!
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
Now you can control the UR5 using MoveIt.
Then run rqt and add JointTrajectoryPlot plugin. Choose the trajectory topic.
$ rqt
Then you can plot each joint position, velocity and acceleration.