It’s quite simple with ROS - you open a bagfile or connect to ROS, select the topics of interest and then you can plot the values.
An example of the top of my head for debugging: the robot I was working with was not very eager to turn on the spot, by plotting commanded angular velocity vs angular speed from wheel odometry I was able to see that commanded velocity was fine and the issue was on the motor controller level.
An example of the top of my head for debugging: the robot I was working with was not very eager to turn on the spot, by plotting commanded angular velocity vs angular speed from wheel odometry I was able to see that commanded velocity was fine and the issue was on the motor controller level.