Plotjuggler 4 (beta!) is here. Unleashing multi-modal data

ROS ROS General
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After few months of hard work, PlotJuggler 4 is finally ready for an early preview!

Expect bugs and missing features, but also ton of awesomeness unleashed.

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Everything was brutally optimized. Playing a compressed MCAP, reading lazily the file from disk, and rendering 3 videos and the two 3D scenes above, for a total of 6 pointclouds, uses only 50% of a single CPU core.

Features: too many to list

  • 2D: images, compressed images, depth, compressed video (H264, AV1).
  • 2D: image rectification!
  • 2D: real-time streaming with WebRTC!
  • 2D: markers!
  • 3D: meshes, occupancygrid, TF2, 3D markers
  • 3D: pointclouds, including compressed ones (Draco and Cloudini)
  • 3D: multiple cameras control, similar to RViz

On the “core” side

  • Refactor data engine that will use up to 5x less memory when loading large datasets.
  • To be opened soon: a marketplace of “Extensions” (think VSCode equivalent) to share plugins with others.
  • a new parallel MCAP loader that can load compressed MCAPs about 4X faster.

And (this is big) integration with Mosaico to access directly data stored in the cloud.

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11 Likes
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Please be patient and report bugs!

I could have waited more, but I decided to release it even if it is a little rough around the edges :smiley:

3 Likes
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I might need to adjust my muscle memory…

alias rviz3='ros2 run plotjugger plotjugger'
10 Likes
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Thanks for the new release!

Is it possible when displaying /tf in the 3D scene to select which tfs to hide or make visible ?

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Soon-ish. Based on feedback of the community I will add features like this one