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rqt_multiplot.xml
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rqt_multiplot.xml
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<?xml version="1.0" encoding="UTF-8"?>
<rqt_multiplot>
<table>
<background_color>#ffffff</background_color>
<foreground_color>#000000</foreground_color>
<link_cursor>false</link_cursor>
<link_scale>false</link_scale>
<plots>
<row_0>
<column_0>
<axes>
<axes>
<x_axis>
<custom_title>x(m)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</x_axis>
<y_axis>
<custom_title>y(m)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</y_axis>
</axes>
</axes>
<curves>
<curve_0>
<axes>
<x_axis>
<field>pose/pose/position/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>pose/pose/position/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>2</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated</title>
</curve_0>
<curve_1>
<axes>
<x_axis>
<field>pose/5/position/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</x_axis>
<y_axis>
<field>pose/5/position/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>2</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>True</title>
</curve_1>
<curve_2>
<axes>
<x_axis>
<field>pose/pose/position/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>pose/pose/position/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>300</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>2</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>3</pen_style>
<pen_width>3</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>3</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>UWB</title>
</curve_2>
</curves>
<legend>
<visible>true</visible>
</legend>
<plot_rate>30</plot_rate>
<title>Plan view</title>
</column_0>
<column_1>
<axes>
<axes>
<x_axis>
<custom_title>Time(s)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</x_axis>
<y_axis>
<custom_title>bias(m/s^2)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</y_axis>
</axes>
</axes>
<curves>
<curve_0>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</x_axis>
<y_axis>
<field>linear_acceleration/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>bias x</title>
</curve_0>
<curve_1>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</x_axis>
<y_axis>
<field>x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated bias x</title>
</curve_1>
<curve_2>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</x_axis>
<y_axis>
<field>y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated bias y</title>
</curve_2>
<curve_3>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</x_axis>
<y_axis>
<field>linear_acceleration/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>bias y</title>
</curve_3>
<curve_4>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</x_axis>
<y_axis>
<field>linear_acceleration/z</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/imu/data/bias</topic>
<type>sensor_msgs/Imu</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated bias z</title>
</curve_4>
<curve_5>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</x_axis>
<y_axis>
<field>z</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_bias</topic>
<type>geometry_msgs/Vector3</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>bias z</title>
</curve_5>
</curves>
<legend>
<visible>true</visible>
</legend>
<plot_rate>30</plot_rate>
<title>Bias estimation</title>
</column_1>
<column_2>
<axes>
<axes>
<x_axis>
<custom_title>Untitled Axis</custom_title>
<title_type>0</title_type>
<title_visible>true</title_visible>
</x_axis>
<y_axis>
<custom_title>Untitled Axis</custom_title>
<title_type>0</title_type>
<title_visible>true</title_visible>
</y_axis>
</axes>
</axes>
<curves>
<curve_0>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</x_axis>
<y_axis>
<field>twist/5/linear/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Vx</title>
</curve_0>
<curve_1>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>twist/twist/linear/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated Vx</title>
</curve_1>
<curve_2>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</x_axis>
<y_axis>
<field>twist/5/linear/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/model_states</topic>
<type>gazebo_msgs/ModelStates</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Vy</title>
</curve_2>
<curve_3>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>twist/twist/linear/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated Vy</title>
</curve_3>
<curve_4>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>twist/twist/linear/x</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>3</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Vx UWB</title>
</curve_4>
<curve_5>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</x_axis>
<y_axis>
<field>twist/twist/linear/y</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/uwb_position</topic>
<type>nav_msgs/Odometry</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>3</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Vy UWB</title>
</curve_5>
</curves>
<legend>
<visible>true</visible>
</legend>
<plot_rate>30</plot_rate>
<title>Velocity</title>
</column_2>
</row_0>
<row_1>
<column_0>
<axes>
<axes>
<x_axis>
<custom_title>Time(s)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</x_axis>
<y_axis>
<custom_title>error(m)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</y_axis>
</axes>
</axes>
<curves>
<curve_0>
<axes>
<x_axis>
<field>pose/5/position/x</field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/gazebo/link_states</topic>
<type>gazebo_msgs/LinkStates</type>
</x_axis>
<y_axis>
<field>data</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_error</topic>
<type>std_msgs/Float32</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Error</title>
</curve_0>
</curves>
<legend>
<visible>true</visible>
</legend>
<plot_rate>30</plot_rate>
<title>Error norm</title>
</column_0>
<column_1>
<axes>
<axes>
<x_axis>
<custom_title>Time(s)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</x_axis>
<y_axis>
<custom_title>heading(rad)</custom_title>
<title_type>1</title_type>
<title_visible>true</title_visible>
</y_axis>
</axes>
</axes>
<curves>
<curve_0>
<axes>
<x_axis>
<field>data</field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_heading</topic>
<type>std_msgs/Float32</type>
</x_axis>
<y_axis>
<field>data</field>
<field_type>0</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/filter_heading</topic>
<type>std_msgs/Float32</type>
</y_axis>
</axes>
<color>
<custom_color>#000000</custom_color>
<type>0</type>
</color>
<data>
<circular_buffer_capacity>1000</circular_buffer_capacity>
<time_frame_length>10</time_frame_length>
<type>0</type>
</data>
<style>
<lines_interpolate>false</lines_interpolate>
<pen_style>1</pen_style>
<pen_width>1</pen_width>
<render_antialias>false</render_antialias>
<steps_invert>false</steps_invert>
<sticks_baseline>0</sticks_baseline>
<sticks_orientation>2</sticks_orientation>
<type>0</type>
</style>
<subscriber_queue_size>100</subscriber_queue_size>
<title>Estimated</title>
</curve_0>
<curve_1>
<axes>
<x_axis>
<field></field>
<field_type>1</field_type>
<scale>
<absolute_maximum>1000</absolute_maximum>
<absolute_minimum>0</absolute_minimum>
<relative_maximum>0</relative_maximum>
<relative_minimum>-1000</relative_minimum>
<type>0</type>
</scale>
<topic>/true_heading</topic>
<type>std_msgs/Float32</type>