data_analysis26

笔记

import numpy as np
from matplotlib import pyplot as plt

runtime_data = np.array([8.1, 7.0, 7.3, 7.2, 6.2, 6.1, 8.3, 6.4, 7.1, 7.0, 7.5, 7.8, 7.9, 7.7, 6.4, 6.6, 8.2, 6.7, 8.1, 8.0, 6.7, 7.9, 6.7, 6.5, 5.3, 6.8, 8.3, 4.7, 6.2, 5.9, 6.3, 7.5, 7.1, 8.0, 5.6, 7.9, 8.6, 7.6, 6.9, 7.1, 6.3, 7.5, 2.7, 7.2, 6.3, 6.7, 7.3, 5.6, 7.1, 3.7, 8.1, 5.8, 5.6, 7.2, 9.0, 7.3, 7.2, 7.4, 7.0, 7.5, 6.7, 6.8, 6.5, 4.1, 8.5, 7.7, 7.4, 8.1, 7.5, 7.2, 5.9, 7.1, 7.5, 6.8, 8.1, 7.1, 8.1, 8.3, 7.3, 5.3, 8.8, 7.9, 8.2, 8.1, 7.2, 7.0, 6.4, 7.8, 7.8, 7.4, 8.1, 7.0, 8.1, 7.1, 7.4, 7.4, 8.6, 5.8, 6.3, 8.5, 7.0, 7.0, 8.0, 7.9, 7.3, 7.7, 5.4, 6.3, 5.8, 7.7, 6.3, 8.1, 6.1, 7.7, 8.1, 5.8, 6.2, 8.8, 7.2, 7.4, 6.7, 6.7, 6.0, 7.4, 8.5, 7.5, 5.7, 6.6, 6.4, 8.0, 7.3, 6.0, 6.4, 8.5, 7.1, 7.3, 8.1, 7.3, 8.1, 7.1, 8.0, 6.2, 7.8, 8.2, 8.4, 8.1, 7.4, 7.6, 7.6, 6.2, 6.4, 7.2, 5.8, 7.6, 8.1, 4.7, 7.0, 7.4, 7.5, 7.9, 6.0, 7.0, 8.0, 6.1, 8.0, 5.2, 6.5, 7.3, 7.3, 6.8, 7.9, 7.9, 5.2, 8.0, 7.5, 6.5, 7.6, 7.0, 7.4, 7.3, 6.7, 6.8, 7.0, 5.9, 8.0, 6.0, 6.3, 6.6, 7.8, 6.3, 7.2, 5.6, 8.1, 5.8, 8.2, 6.9, 6.3, 8.1, 8.1, 6.3, 7.9, 6.5, 7.3, 7.9, 5.7, 7.8, 7.5, 7.5, 6.8, 6.7, 6.1, 5.3, 7.1, 5.8, 7.0, 5.5, 7.8, 5.7, 6.1, 7.7, 6.7, 7.1, 6.9, 7.8, 7.0, 7.0, 7.1, 6.4, 7.0, 4.8, 8.2, 5.2, 7.8, 7.4, 6.1, 8.0, 6.8, 3.9, 8.1, 5.9, 7.6, 8.2, 5.8, 6.5, 5.9, 7.6, 7.9, 7.4, 7.1, 8.6, 4.9, 7.3, 7.9, 6.7, 7.5, 7.8, 5.8, 7.6, 6.4, 7.1, 7.8, 8.0, 6.2, 7.0, 6.0, 4.9, 6.0, 7.5, 6.7, 3.7, 7.8, 7.9, 7.2, 8.0, 6.8, 7.0, 7.1, 7.7, 7.0, 7.2, 7.3, 7.6, 7.1, 7.0, 6.0, 6.1, 5.8, 5.3, 5.8, 6.1, 7.5, 7.2, 5.7, 7.7, 7.1, 6.6, 5.7, 6.8, 7.1, 8.1, 7.2, 7.5, 7.0, 5.5, 6.4, 6.7, 6.2, 5.5, 6.0, 6.1, 7.7, 7.8, 6.8, 7.4, 7.5, 7.0, 5.2, 5.3, 6.2, 7.3, 6.5, 6.4, 7.3, 6.7, 7.7, 6.0, 6.0, 7.4, 7.0, 5.4, 6.9, 7.3, 8.0, 7.4, 8.1, 6.1, 7.8, 5.9, 7.8, 6.5, 6.6, 7.4, 6.4, 6.8, 6.2, 5.8, 7.7, 7.3, 5.1, 7.7, 7.3, 6.6, 7.1, 6.7, 6.3, 5.5, 7.4, 7.7, 6.6, 7.8, 6.9, 5.7, 7.8, 7.7, 6.3, 8.0, 5.5, 6.9, 7.0, 5.7, 6.0, 6.8, 6.3, 6.7, 6.9, 5.7, 6.9, 7.6, 7.1, 6.1, 7.6, 7.4, 6.6, 7.6, 7.8, 7.1, 5.6, 6.7, 6.7, 6.6, 6.3, 5.8, 7.2, 5.0, 5.4, 7.2, 6.8, 5.5, 6.0, 6.1, 6.4, 3.9, 7.1, 7.7, 6.7, 6.7, 7.4, 7.8, 6.6, 6.1, 7.8, 6.5, 7.3, 7.2, 5.6, 5.4, 6.9, 7.8, 7.7, 7.2, 6.8, 5.7, 5.8, 6.2, 5.9, 7.8, 6.5, 8.1, 5.2, 6.0, 8.4, 4.7, 7.0, 7.4, 6.4, 7.1, 7.1, 7.6, 6.6, 5.6, 6.3, 7.5, 7.7, 7.4, 6.0, 6.6, 7.1, 7.9, 7.8, 5.9, 7.0, 7.0, 6.8, 6.5, 6.1, 8.3, 6.7, 6.0, 6.4, 7.3, 7.6, 6.0, 6.6, 7.5, 6.3, 7.5, 6.4, 6.9, 8.0, 6.7, 7.8, 6.4, 5.8, 7.5, 7.7, 7.4, 8.5, 5.7, 8.3, 6.7, 7.2, 6.5, 6.3, 7.7, 6.3, 7.8, 6.7, 6.7, 6.6, 8.0, 6.5, 6.9, 7.0, 5.3, 6.3, 7.2, 6.8, 7.1, 7.4, 8.3, 6.3, 7.2, 6.5, 7.3, 7.9, 5.7, 6.5, 7.7, 4.3, 7.8, 7.8, 7.2, 5.0, 7.1, 5.7, 7.1, 6.0, 6.9, 7.9, 6.2, 7.2, 5.3, 4.7, 6.6, 7.0, 3.9, 6.6, 5.4, 6.4, 6.7, 6.9, 5.4, 7.0, 6.4, 7.2, 6.5, 7.0, 5.7, 7.3, 6.1, 7.2, 7.4, 6.3, 7.1, 5.7, 6.7, 6.8, 6.5, 6.8, 7.9, 5.8, 7.1, 4.3, 6.3, 7.1, 4.6, 7.1, 6.3, 6.9, 6.6, 6.5, 6.5, 6.8, 7.8, 6.1, 5.8, 6.3, 7.5, 6.1, 6.5, 6.0, 7.1, 7.1, 7.8, 6.8, 5.8, 6.8, 6.8, 7.6, 6.3, 4.9, 4.2, 5.1, 5.7, 7.6, 5.2, 7.2, 6.0, 7.3, 7.2, 7.8, 6.2, 7.1, 6.4, 6.1, 7.2, 6.6, 6.2, 7.9, 7.3, 6.7, 6.4, 6.4, 7.2, 5.1, 7.4, 7.2, 6.9, 8.1, 7.0, 6.2, 7.6, 6.7, 7.5, 6.6, 6.3, 4.0, 6.9, 6.3, 7.3, 7.3, 6.4, 6.6, 5.6, 6.0, 6.3, 6.7, 6.0, 6.1, 6.2, 6.7, 6.6, 7.0, 4.9, 8.4, 7.0, 7.5, 7.3, 5.6, 6.7, 8.0, 8.1, 4.8, 7.5, 5.5, 8.2, 6.6, 3.2, 5.3, 5.6, 7.4, 6.4, 6.8, 6.7, 6.4, 7.0, 7.9, 5.9, 7.7, 6.7, 7.0, 6.9, 7.7, 6.6, 7.1, 6.6, 5.7, 6.3, 6.5, 8.0, 6.1, 6.5, 7.6, 5.6, 5.9, 7.2, 6.7, 7.2, 6.5, 7.2, 6.7, 7.5, 6.5, 5.9, 7.7, 8.0, 7.6, 6.1, 8.3, 7.1, 5.4, 7.8, 6.5, 5.5, 7.9, 8.1, 6.1, 7.3, 7.2, 5.5, 6.5, 7.0, 7.1, 6.6, 6.5, 5.8, 7.1, 6.5, 7.4, 6.2, 6.0, 7.6, 7.3, 8.2, 5.8, 6.5, 6.6, 6.2, 5.8, 6.4, 6.7, 7.1, 6.0, 5.1, 6.2, 6.2, 6.6, 7.6, 6.8, 6.7, 6.3, 7.0, 6.9, 6.6, 7.7, 7.5, 5.6, 7.1, 5.7, 5.2, 5.4, 6.6, 8.2, 7.6, 6.2, 6.1, 4.6, 5.7, 6.1, 5.9, 7.2, 6.5, 7.9, 6.3, 5.0, 7.3, 5.2, 6.6, 5.2, 7.8, 7.5, 7.3, 7.3, 6.6, 5.7, 8.2, 6.7, 6.2, 6.3, 5.7, 6.6, 4.5, 8.1, 5.6, 7.3, 6.2, 5.1, 4.7, 4.8, 7.2, 6.9, 6.5, 7.3, 6.5, 6.9, 7.8, 6.8, 4.6, 6.7, 6.4, 6.0, 6.3, 6.6, 7.8, 6.6, 6.2, 7.3, 7.4, 6.5, 7.0, 4.3, 7.2, 6.2, 6.2, 6.8, 6.0, 6.6, 7.1, 6.8, 5.2, 6.7, 6.2, 7.0, 6.3, 7.8, 7.6, 5.4, 7.6, 5.4, 4.6, 6.9, 6.8, 5.8, 7.0, 5.8, 5.3, 4.6, 5.3, 7.6, 1.9, 7.2, 6.4, 7.4, 5.7, 6.4, 6.3, 7.5, 5.5, 4.2, 7.8, 6.3, 6.4, 7.1, 7.1, 6.8, 7.3, 6.7, 7.8, 6.3, 7.5, 6.8, 7.4, 6.8, 7.1, 7.6, 5.9, 6.6, 7.5, 6.4, 7.8, 7.2, 8.4, 6.2, 7.1, 6.3, 6.5, 6.9, 6.9, 6.6, 6.9, 7.7, 2.7, 5.4, 7.0, 6.6, 7.0, 6.9, 7.3, 5.8, 5.8, 6.9, 7.5, 6.3, 6.9, 6.1, 7.5, 6.8, 6.5, 5.5, 7.7, 3.5, 6.2, 7.1, 5.5, 7.1, 7.1, 7.1, 7.9, 6.5, 5.5, 6.5, 5.6, 6.8, 7.9, 6.2, 6.2, 6.7, 6.9, 6.5, 6.6, 6.4, 4.7, 7.2, 7.2, 6.7, 7.5, 6.6, 6.7, 7.5, 6.1, 6.4, 6.3, 6.4, 6.8, 6.1, 4.9, 7.3, 5.9, 6.1, 7.1, 5.9, 6.8, 5.4, 6.3, 6.2, 6.6, 4.4, 6.8, 7.3, 7.4, 6.1, 4.9, 5.8, 6.1, 6.4, 6.9, 7.2, 5.6, 4.9, 6.1, 7.8, 7.3, 4.3, 7.2, 6.4, 6.2, 5.2, 7.7, 6.2, 7.8, 7.0, 5.9, 6.7, 6.3, 6.9, 7.0, 6.7, 7.3, 3.5, 6.5, 4.8, 6.9, 5.9, 6.2, 7.4, 6.0, 6.2, 5.0, 7.0, 7.6, 7.0, 5.3, 7.4, 6.5, 6.8, 5.6, 5.9, 6.3, 7.1, 7.5, 6.6, 8.5, 6.3, 5.9, 6.7, 6.2, 5.5, 6.2, 5.6, 5.3])
max_runtime = runtime_data.max()
min_runtime = runtime_data.min()
print(min_runtime,max_runtime)

# 设置不等宽的组距,hist方法中取到的会是一个左闭右开的区间[1.9,3.5)
num_bin_list = [1.9,3.5]
i=3.5
while i<=max_runtime:
    i += 0.5
    num_bin_list.append(i)
print(num_bin_list)

# 设置图形大小
plt.figure(figsize=(20,8),dpi=80)
plt.hist(runtime_data,num_bin_list)

# xticks让之前的组距能够对应上
plt.xticks(num_bin_list)

plt.show()

### ROS Topic `/data_analysis/real_joint_pos` 的使用方法 在机器人操作系统(ROS)中,`rostopic` 是用于与话题(topics)交互的命令行工具。通过 `rostopic` 命令可以查看、发布和监控消息流。以下是关于如何使用 `rostopic` 来操作名为 `/data_analysis/real_joint_pos` 主题的具体说明。 #### 查看主题的消息类型 要了解 `/data_analysis/real_joint_pos` 所使用的具体消息类型及其字段结构,可运行以下命令: ```bash rostopic type /data_analysis/real_joint_pos ``` 此命令会返回该主题对应的消息类型的名称,例如 `sensor_msgs/JointState` 或其他自定义类型[^2]。 如果需要进一步确认消息的内容格式,则可以通过以下方式获取详细描述: ```bash rosmsg show <message_type> ``` #### 发布测试数据到主题 为了模拟向 `/data_analysis/real_joint_pos` 发送数据的过程,可以利用 `rostopic pub` 命令手动创建并发送一条消息实例。假设其消息类型为标准的 `JointState` 类型,那么执行如下脚本即可完成一次简单的发布动作: ```bash rostopic pub /data_analysis/real_joint_pos sensor_msgs/JointState "{header: {stamp: now, frame_id: ''}, name: ['joint1', 'joint2'], position: [0.1, 0.2], velocity: [], effort: []}" --once ``` 上述例子中的参数可以根据实际需求调整;其中 `"--once"` 参数表示仅推送单条记录而不是持续广播[^3]。 #### 订阅并打印接收到的数据 当有节点正在往 `/data_analysis/real_joint_pos` 上写入信息时,我们也可以借助 `rostopic echo` 实现对接收端内容的实时观察功能: ```bash rostopic echo /data_analysis/real_joint_pos ``` 这一步骤有助于验证当前订阅状态以及调试过程中定位潜在错误源[^4]。 #### 编码实现示例 下面给出一段 Python 风格代码片段作为参考,展示怎样基于 rospy 库开发程序来处理这个特定的主题通信逻辑。 ```python import rospy from std_msgs.msg import Float64MultiArray def callback(data): joint_positions = data.data rospy.loginfo(f"Received Joint Positions: {joint_positions}") if __name__ == '__main__': rospy.init_node('joint_position_subscriber') sub = rospy.Subscriber('/data_analysis/real_joint_pos', Float64MultiArray, callback) rate = rospy.Rate(10) # 10 Hz while not rospy.is_shutdown(): rate.sleep() ``` 以上展示了订阅者模式下的基本框架设计思路[^5]。 ---
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