added everything from pc

scripts/plot.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import threading
+
+class MultiPlotter(Node):
+    def __init__(self):
+        super().__init__("multi_plotter")
+
+        # Data buffers
+        self.angle = []
+        self.velocity = []
+        self.acceleration = []
+
+        # Subscriptions
+        self.create_subscription(Float32, '/nucleo/stepper0/position',
+                                 self.angle_callback, 10)
+        self.create_subscription(Float32, '/nucleo/stepper0/velocity',
+                                 self.velocity_callback, 10)
+        self.create_subscription(Float32, '/nucleo/stepper0/acceleration',
+                                 self.accel_callback, 10)
+
+    def angle_callback(self, msg):
+        self.angle.append(msg.data)
+        self._trim()
+
+    def velocity_callback(self, msg):
+        self.velocity.append(msg.data)
+        self._trim()
+
+    def accel_callback(self, msg):
+        self.acceleration.append(msg.data)
+        self._trim()
+
+    def _trim(self, limit=2000):
+        """Keep buffers short so memory stays small."""
+        if len(self.angle) > limit:
+            self.angle.pop(0)
+        if len(self.velocity) > limit:
+            self.velocity.pop(0)
+        if len(self.acceleration) > limit:
+            self.acceleration.pop(0)
+
+
+def animate(i, node, axes):
+    # Clear each subplot
+    for ax in axes:
+        ax.cla()
+
+    # Angle
+    if len(node.angle) > 0:
+        axes[0].plot(node.angle, color='red')
+    axes[0].set_title("Angle")
+    axes[0].grid(True)
+
+    # Velocity
+    if len(node.velocity) > 0:
+        axes[1].plot(node.velocity, color='green')
+    axes[1].set_title("Velocity")
+    axes[1].grid(True)
+
+    # Acceleration
+    if len(node.acceleration) > 0:
+        axes[2].plot(node.acceleration, color='blue')
+    axes[2].set_title("Acceleration")
+    axes[2].grid(True)
+
+    # Shared axis labels
+    axes[2].set_xlabel("Samples")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MultiPlotter()
+
+    # Start ROS spinning in the background
+    thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+    thread.start()
+
+    # Create three subplots
+    fig, axes = plt.subplots(3, 1, figsize=(8, 8), sharex=True)
+
+    # Persist animation object
+    global ani
+    ani = animation.FuncAnimation(
+        fig,
+        animate,
+        fargs=(node, axes),
+        interval=16
+    )
+
+    plt.tight_layout()
+    plt.show()
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()