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smk.xml
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<?xml version='1.0' encoding='UTF-8'?>
<root version="2.3.8">
<tabbed_widget parent="main_window" name="Main Window">
<Tab containers="1" tab_name="tab1">
<Container>
<DockSplitter orientation="-" count="1" sizes="1">
<DockSplitter orientation="|" count="2" sizes="0.5;0.5">
<DockSplitter orientation="-" count="3" sizes="0.420368;0.306609;0.273023">
<DockSplitter orientation="|" count="2" sizes="0.500612;0.499388">
<DockArea name="...">
<plot style="Lines" mode="XYPlot">
<range left="-0.547027" right="23.736607" top="3.762743" bottom="-16.312647"/>
<limitY/>
<curve color="#1f77b4" curve_x="/position_cmd/position/x" name="/position_cmd/position/[x;y]" curve_y="/position_cmd/position/y"/>
<curve color="#d62728" curve_x="/odom_visualization/pose/position/x" name="/odom_visualization/pose/position/[x;y]" curve_y="/odom_visualization/pose/position/y"/>
</plot>
</DockArea>
<DockSplitter orientation="-" count="2" sizes="0.501292;0.498708">
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="170.516756" top="-0.243448" bottom="-1.389670"/>
<limitY/>
<curve color="#d62728" name="/position_cmd/yaw"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="170.516756" top="1.649318" bottom="-1.649336"/>
<limitY/>
<curve color="#1ac938" name="/position_cmd/yaw_dot"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="176.601157" top="19.956599" bottom="3.164035"/>
<limitY/>
<curve color="#f14cc1" name="/position_cmd/position/x"/>
<curve color="#1ac938" name="/odom_visualization/pose/position/x"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="176.601157" top="3.762743" bottom="-16.243659"/>
<limitY/>
<curve color="#ff7f0e" name="/odom_visualization/pose/position/y"/>
<curve color="#f14cc1" name="/position_cmd/position/y"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="-" count="3" sizes="0.332611;0.334778;0.332611">
<DockSplitter orientation="|" count="2" sizes="0.50306;0.49694">
<DockArea name="...">
<plot style="Lines" mode="XYPlot">
<range left="-1.251407" right="4.009855" top="0.075161" bottom="-3.081596"/>
<limitY/>
<curve color="#17becf" curve_x="/position_cmd/velocity/x" name="/position_cmd/velocity/[x;y]" curve_y="/position_cmd/velocity/y"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.519482" right="170.518710" top="3.739447" bottom="-0.091206"/>
<limitY/>
<curve color="#ff7f0e" name="/debug/orientation/w"/>
</plot>
</DockArea>
</DockSplitter>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="170.518710" top="2.827409" bottom="-0.068961"/>
<limitY/>
<curve color="#bcbd22" name="/position_cmd/velocity/x"/>
<curve color="#9467bd" name="/mavbs/setpoint_raw/local/velocity/x"/>
<curve color="#ff7f0e" name="/debug/position/x"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" mode="TimeSeries">
<range left="160.516799" right="170.518710" top="0.075161" bottom="-3.081596"/>
<limitY/>
<curve color="#1f77b4" name="/position_cmd/velocity/y"/>
<curve color="#f14cc1" name="/debug/position/y"/>
<curve color="#17becf" name="/mavbs/setpoint_raw/local/velocity/y"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad CSV">
<default time_axis=""/>
</plugin>
<plugin ID="DataLoad ROS bags">
<use_header_stamp value="false"/>
<use_renaming_rules value="true"/>
<discard_large_arrays value="true"/>
<max_array_size value="9999"/>
</plugin>
<plugin ID="DataLoad ULog"/>
<plugin ID="LSL Subscriber"/>
<plugin ID="MQTT Subscriber"/>
<plugin ID="ROS Topic Subscriber">
<use_header_stamp value="true"/>
<use_renaming_rules value="true"/>
<discard_large_arrays value="true"/>
<max_array_size value="100"/>
</plugin>
<plugin ID="UDP Server"/>
<plugin ID="WebSocket Server"/>
<plugin ID="ZMQ Subscriber"/>
<plugin ID="CSV Exporter" status="idle"/>
<plugin ID="ROS /rosout Visualization" status="idle"/>
<plugin ID="ROS Topic Re-Publisher" status="idle"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<previouslyLoaded_Datafiles/>
<previouslyLoaded_Streamer name="ROS Topic Subscriber"/>
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="p">
<global>left = 0
right = 0
mid = 0
last = 0
is_first = true</global>
<function>left = 0
right = 0
mid = 0
last = 0
is_first = true
n = (v2*v2+v1*v1)
right = n
if(n==1) then
return 1
end
if (is_first) then
if(mid > n / mid) then
right = mid
else
left = mid
end
last = mid
mid = left + (right - left)/2
if((mid - last)*(mid - last)>0.000001) then
is_first = false
end
end
return mid</function>
<linkedSource>/position_cmd/velocity/z</linkedSource>
<additionalSources>
<v1>/position_cmd/velocity/x</v1>
<v2>/position_cmd/velocity/y</v2>
</additionalSources>
</snippet>
<snippet name="sqrt of v">
<global></global>
<function>return (v2*v2+v1*v1)</function>
<linkedSource>/position_cmd/velocity/x</linkedSource>
<additionalSources>
<v1>/position_cmd/velocity/y</v1>
<v2>/position_cmd/velocity/x</v2>
</additionalSources>
</snippet>
</customMathEquations>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>