Update jupyter plotting tool

bags/Controller Plotting.ipynb

@@ -32,20 +32,21 @@
 bag = rosbag.Bag(bag_name)
 error = []
 poses = []
 speeds = []
 path = None
-for topic, msg, t in bag.read_messages(topics=['/controller/cte', '/sim_car_pose/pose', '/controller/path/poses', '/vesc/high_level/ackermann_cmd_mux/input/nav_0']):
-    if 'cte' in topic:
+for topic, msg, t in bag.read_messages(topics=['/controller/cte', '/car_pose', '/controller/path/poses', '/vesc/high_level/ackermann_cmd_mux/input/nav_0']):
+    if '/controller/cte' in topic:
         error.append(msg.data)
-    if 'sim' in topic and path is not None:
+    if '/car_pose' in topic and path is not None:
         pose = pose_to_config(msg.pose)
         poses.append(pose)
-    if 'nav' in topic and path is not None:
-        speeds.append(msg.drive.speed)
     if '/controller/path/poses' in topic:
         path = map(pose_to_config, msg.poses)
+    if '/vesc/high_level/ackermann_cmd_mux/input/nav_0' in topic and path is not None:
+        speeds.append(msg.drive.speed)
+
 plt.figure(1)
 plt.subplot(221)
 plt.plot(error)
 plt.axhline(0, color='grey')