ROS Tricks

Overview

Use sim time

put this line to launch
<param name="use_sim_time" value="true" />
or run in terminal
rosparam set use_sim_time true

URDF

Convert xacro to urdf

rosrun xacro xacro --inorder -o zobo.urdf zobo.urdf.xarco

TF

tf between two frame

$ rosrun tf tf_echo from_frame another_frame

Visualization

rqt_plot

$ rqt_plot /imu/raw/linear_acceleration/x:y:z