In this video we’re going to see what is rqt_plot and how it works.

Before we start, if you are new to ROS, I highly recommend you to take any of the following courses on Robot Ignite Academy

▸ ROS Basics In 5 Days (Python)
▸ ROS Basics In 5 Days (C++)

The commands used during the video to create the package were the following:

cd ~/catkin_ws/src/
catkin_create_pkg tutorial rospy
cd tutorial/src/
touch learning.py
chmod +x learning.py
source ~/catkin_ws/devel/setup.bash

The content of learning.py is:

#! /usr/bin/env python
import rospy
from std_msgs.msg import Float32
from random import random

rospy.init_node(‘learning’)
pub = rospy.Publisher(‘reward’, Float32, queue_size=1)
rate = rospy.Rate(1)

while not rospy.is_shutdown():
pub.publish( random() * 50 )
rate.sleep()

And to see rqt_plot, the command was:

rqt_plot /reward

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Thanks for watching.