Logging and plotting routines for Hubo.
Please contact Matt Zucker [email protected] with questions, comments, or rants.
Log format based on MRDPLOT code obtained from Chris Atkeson @ CMU
To build the software, you will need these libraries:
- ach
- hubo-ach
- Qt4 (Ubuntu:
libqt4-dev) - Qwt5 (Ubuntu:
libqwt5-qt4-dev)
You must also install cmake to build as well. To build:
cd /path/to/hubo-logging
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
To log data from the robot (either directly or over an ACH remote
session), run the hubo-logger program. You should supply a
destination filename on the command line:
hubo-logger LOGFILENAME.data
To stop logging, simply interrupt the program with Ctrl+C.
To plot log data, use the mzplot program:
mzplot LOGFILENAME.data
To search for a variable name, use the search box in the top right. To add a variable to a plot, click the variable name in the list view on the right, and then click any row of plots on the left. You may add multiple traces to a single row.
The left hand side of the window has a two-column array of plots. The left column shows the entire data trace, and the right column shows a detailed virsion. To zoom in or out in the detail view, use the mousewheel or Ctrl+EQUALS or Ctrl+MINUS. To reset the zoom, use Ctrl+0.
You may also load and save plot sets using the file menu. The plot set files should have the .plots extension.