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add new plotjuggler setting
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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‎control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower_accfb.xml

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<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="Lateral Controller" containers="1">
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<Container>
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<DockSplitter sizes="0.50214;0.49786" count="2" orientation="-">
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<DockSplitter sizes="0.333487;0.333025;0.333487" count="3" orientation="|">
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<DockArea name="Lateral Controller Info">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="0.186116" bottom="-0.195346" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[5]" color="#1f77b4">
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<transform alias="lateral error" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[8]" color="#d62728">
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<transform alias="yaw error" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[0]" color="#1ac938">
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<transform alias="steer cmd (final)" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[2]" color="#ff7f0e">
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<transform alias="steer cmd (FF-filtered)" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[3]" color="#f14cc1">
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<transform alias="steer cmd (FF-raw)" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[4]" color="#9467bd">
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<transform alias="steer measured" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[1]" color="#17becf">
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<transform alias="steer cmd (mpc-raw)" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="Velocity">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="4.394836" bottom="-0.304341" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[9]" color="#1f77b4">
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<transform alias="trajectory velocity" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[10]" color="#d62728">
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<transform alias="current velocity" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="path curvature">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="0.038695" bottom="-0.007898" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[14]" color="#d62728">
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<transform alias="smoothed" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[15]" color="#1f77b4">
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<transform alias="raw" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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</DockSplitter>
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<DockSplitter sizes="0.332102;0.335797;0.332102" count="3" orientation="|">
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<DockArea name="angular-velocity converted from">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="0.044071" bottom="-0.025022" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[11]" color="#1ac938">
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<transform alias="steering cmd" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[12]" color="#ff7f0e">
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<transform alias="steering measured " name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[13]" color="#d62728">
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<transform alias="path curvature (smoothed)" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[17]" color="#1f77b4">
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<transform alias="steering predicted" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="yaw">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="2.871953" bottom="2.734902" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[7]" color="#1ac938">
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<transform alias="desired yaw" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/lateral/diagnostic/data[6]" color="#ff7f0e">
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<transform alias="current yaw" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="control mode (1: Auto, 2: Manual, 3: Disengaged, 4: Not Ready)">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="1.100000" bottom="0.900000" left="612.164064"/>
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<limitY/>
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<curve name="/vehicle/status/control_mode/mode" color="#1f77b4"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</DockSplitter>
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</Container>
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</Tab>
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<Tab tab_name="Longitudinal Controller" containers="1">
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<Container>
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<DockSplitter sizes="0.3015;0.29045;0.278611;0.12944" count="4" orientation="-">
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<DockArea name="Velocity">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="4.401672" bottom="-0.413450" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[2]" color="#17becf">
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<transform alias="target" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[1]" color="#9467bd">
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<transform alias="current" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[4]" color="#bcbd22">
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<transform alias="closest" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[24]" color="#1f77b4">
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<transform alias="predicted" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="Longitudinal Controller Info">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="1.211409" bottom="-3.512473" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[3]" color="#1ac938">
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<transform alias="FF" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[14]" color="#ff7f0e">
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<transform alias="FF+FB" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[19]" color="#f14cc1">
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<transform alias="FB-P" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[16]" color="#1f77b4">
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<transform alias="jerk filtered" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[17]" color="#d62728">
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<transform alias="slope added" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[18]" color="#004eff">
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<transform alias="final" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[25]" color="#ff7f0e">
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<transform alias="calculated" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="1.302476" bottom="-3.514695" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[25]" color="#d62728">
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<transform alias="measured acc (1/0.1s+1)" name="Scale/Offset">
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<options value_offset="0.0" time_offset="0.0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[31]" color="#ff7f0e">
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<transform alias="error acc " name="Scale/Offset">
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<options value_offset="0.0" time_offset="0.0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[32]" color="#f14cc1">
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<transform alias="error acc filtered" name="Scale/Offset">
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<options value_offset="0.0" time_offset="0.0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[33]" color="#9467bd">
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<transform alias="acc cmd output" name="Scale/Offset">
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<options value_offset="0.0" time_offset="0.0" value_scale="1.0"/>
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</transform>
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</curve>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[16]" color="#17becf">
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<transform alias="desired acc" name="Scale/Offset">
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<options value_offset="0.0" time_offset="0.0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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<DockArea name="State">
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<plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
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<range right="698.352475" top="2.050000" bottom="-0.050000" left="612.164064"/>
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<limitY/>
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<curve name="/control/trajectory_follower/longitudinal/diagnostic/data[13]" color="#d62728">
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<transform alias="0:Drive 1:Stopping 2:Stopped 3:Emergency" name="Scale/Offset">
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<options value_offset="0" time_offset="0" value_scale="1.0"/>
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</transform>
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</curve>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>
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<currentTabIndex index="1"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad CSV">
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<parameters delimiter="0" time_axis=""/>
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</plugin>
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<plugin ID="DataLoad MCAP"/>
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<plugin ID="DataLoad ROS2 bags">
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<use_header_stamp value="false"/>
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<discard_large_arrays value="true"/>
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<max_array_size value="100"/>
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<boolean_strings_to_number value="true"/>
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<remove_suffix_from_strings value="true"/>
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<selected_topics value=""/>
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</plugin>
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<plugin ID="DataLoad ULog"/>
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<plugin ID="MQTT Subscriber (Mosquitto)"/>
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<plugin ID="ROS2 Topic Subscriber">
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<use_header_stamp value="false"/>
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<discard_large_arrays value="false"/>
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<max_array_size value="100"/>
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<boolean_strings_to_number value="false"/>
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<remove_suffix_from_strings value="false"/>
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<selected_topics value="/control/trajectory_follower/lateral/diagnostic;/control/trajectory_follower/longitudinal/diagnostic;/localization/acceleration;/vehicle/status/control_mode"/>
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</plugin>
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<plugin ID="UDP Server"/>
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<plugin ID="WebSocket Server"/>
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<plugin ID="ZMQ Subscriber"/>
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<plugin ID="Fast Fourier Transform"/>
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<plugin ID="Quaternion to RPY"/>
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<plugin ID="Reactive Script Editor">
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<library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix: prefix of the timeseries, before the index of the array&#xa; suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y: suffix to complete the name of the series containing the Y value&#xa; timestamp: usually the tracker_time variable&#xa; &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa; /trajectory/node.{X}/position/x&#xa; /trajectory/node.{X}/position/y&#xa; &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa; new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa; CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa; &#xa; --- clear previous values&#xa; new_series:clear()&#xa; &#xa; --- Append points to new_series&#xa; index = 0&#xa; while(true) do&#xa;&#xa; x = index;&#xa; -- if not nil, get the X coordinate from a series&#xa; if suffix_X ~= nil then &#xa; series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa; if series_x == nil then break end&#xa; x = series_x:atTime(timestamp)&#x9; &#xa; end&#xa; &#xa; series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa; if series_y == nil then break end &#xa; y = series_y:atTime(timestamp)&#xa; &#xa; new_series:push_back(x,y)&#xa; index = index+1&#xa; end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa; -- GetSeriesNames(9 is a built-in function&#xa; all_names = GetSeriesNames()&#xa; filtered_names = {}&#xa; for i, name in ipairs(all_names) do&#xa; -- check the prefix&#xa; if name:find(prefix, 1, #prefix) then&#xa; table.insert(filtered_names, name);&#xa; end&#xa; end&#xa; return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa; &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa; -- use C++ indices, not Lua indices&#xa; for index=0, series:size()-1 do&#xa; x,y = series:at(index)&#xa; series:set(index, x + delta_x, y + delta_y)&#xa; end&#xa;end&#xa;"/>
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<scripts/>
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</plugin>
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<plugin ID="CSV Exporter"/>
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<plugin ID="ROS2 Topic Re-Publisher"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<previouslyLoaded_Datafiles/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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