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| #!/usr/bin/env python | |
| import rospy | |
| from sensor_msgs.msg import Imu | |
| import numpy as np | |
| import matplotlib.pyplot as plt | |
| class Timing(): | |
| def __init__(self): | |
| self.count = 0 | |
| self.arrivals = [] | |
| self.stamps = [] | |
| self.imu_sub = rospy.Subscriber('imu/data', Imu, self.imuCallback, queue_size=1) | |
| while not rospy.is_shutdown(): | |
| rospy.spin() | |
| def imuCallback(self, msg): | |
| self.arrivals.append(rospy.Time.now().to_sec()) | |
| self.stamps.append(msg.header.stamp.to_sec()) | |
| self.count += 1 | |
| if self.count >= 1000: | |
| rospy.signal_shutdown("Received IMU measurements") | |
| if __name__ == '__main__': | |
| rospy.init_node('timing') | |
| timing = Timing() | |
| # plot results | |
| plt.figure(1) | |
| plt.subplot(211) | |
| plt.hist(np.diff(timing.arrivals), bins=50) | |
| plt.title('Arrival Times') | |
| plt.subplot(212) | |
| plt.hist(np.diff(timing.stamps), bins=50) | |
| plt.title('Stamp Times') | |
| plt.figure(2) | |
| plt.subplot(211) | |
| plt.plot(timing.arrivals[1:], np.diff(timing.arrivals)) | |
| plt.title('Arrival Times') | |
| plt.subplot(212) | |
| plt.plot(timing.stamps[1:], np.diff(timing.stamps)) | |
| plt.title('Stamp Times') | |
| plt.show() |
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