PlotJuggler

PlotJuggler is an open-source desktop tool for real-time plotting of time-series data. It is widely used in robotics and embedded development for quickly visualising signals from multiple sources.

Installation

Download the build below, unzip it and open PlotJuggler.

Windows

Linux (x86_64/amd64)

Linux (ARM64)

Note

The API version for each CANsub firmware release is listed in the CANsub Docs changelog

Connect your CANsub & load DBC

  1. Ensure your CANsub is ready for streaming (see the get started section)

  2. In the PlotJuggler streaming tab click the ‘configure’ icon and select ‘Configure CAN Interface’

  3. Select the CANsub channel, set the bit-rate, load your DBC file(s) and click OK

  4. Click ‘Start’ to connect, then drag & drop signals to start plotting

Create split plot views

Right-click a plot and split it into multiple tiles to view several charts at once. Simply drag & drop signals into the individual plots to stream the data.

Add XY scatter plots

Drag & drop two signals via the ‘right-click’ mouse button to add them as an XY scatter plot.

Apply basic signal filters

Right-click a plot panel and select ‘Apply filter to data’ to do a quick transformation of the signal - e.g. to smoothen it via a moving average function or to stream the integral/derivative of the signal.

Add custom time series functions

Create new customized signals from existing ones using scripted Lua-style transformations - e.g. integrate, differentiate or scale a signal.