<> <> == Overview == {{attachment:snap_rqt_graph_moveit_demo.png | launch top window | width=800}} `rqt_graph` is the successor of [[rxgraph]]. == Topic statistics == <> [[roscpp]] and [[rospy]] can measure certain statistics for every topic connection (see [[Topics]] for more details. This has to be enabled beforehand through: {{{ $ 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. === Example === This is an example of rqt_graph with statistics measurement enabled: {{attachment:topic_statistics_cropped.png | ROS graph with statistics annotations | width=800 }} Legend: * "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). ## AUTOGENERATED DON'T DELETE ## CategoryPackage