rqt_graph is the successor of rxgraph.
New in ROS indigo
$ rosparam set enable_statistics true
After that, rqt_graph will automatically annotate the ROS graph with statistics information.
Note: rqt_graph currently does not automatically update the statistics annotations. You have to hit the Refresh button to update them.
This is an example of rqt_graph with statistics measurement enabled:
- "5.0 Hz" indicates the observed publish frequency.
- // "110.0ms" indicates the average age of the message (might be very large when replaying bag files without simtime).
- line color: red marks a high average age, green a young age. The limits are normed to the ages observed in the ROS graph.
line thickness: A thick line means the connection has a large throughput in Bytes/s (e.g. an unfiltered PointCloud).