ROS入门笔记（五）：ROS中运行rqt_plot的问题（kinetic）

1 问题

rosrun rqt_plot rqt_plot

ggk@ggk-virtual-machine:~$ rosrun rqt_plot rqt_plot
/usr/lib/python2.7/dist-packages/matplotlib/axis.py:1015: UserWarning: Unable to find pixel distance along axis for interval padding of ticks; assuming no interval padding needed.
  warnings.warn("Unable to find pixel distance along axis "
/usr/lib/python2.7/dist-packages/matplotlib/axis.py:1025: UserWarning: Unable to find pixel distance along axis for interval padding of ticks; assuming no interval padding needed.
  warnings.warn("Unable to find pixel distance along axis "
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/data_plot/mat_data_plot.py", line 107, in resizeEvent
    self.figure.tight_layout()
  File "/usr/lib/python2.7/dist-packages/matplotlib/figure.py", line 1754, in tight_layout
    rect=rect)
  File "/usr/lib/python2.7/dist-packages/matplotlib/tight_layout.py", line 349, in get_tight_layout_figure
    pad=pad, h_pad=h_pad, w_pad=w_pad)
  File "/usr/lib/python2.7/dist-packages/matplotlib/tight_layout.py", line 128, in auto_adjust_subplotpars
    fig.transFigure.inverted())
  File "/usr/lib/python2.7/dist-packages/matplotlib/transforms.py", line 1775, in inverted
    self._inverted = Affine2D(inv(mtx), shorthand_name=shorthand_name)
  File "/usr/lib/python2.7/dist-packages/numpy/linalg/linalg.py", line 526, in inv
    ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
  File "/usr/lib/python2.7/dist-packages/numpy/linalg/linalg.py", line 90, in _raise_linalgerror_singular
    raise LinAlgError("Singular matrix")
numpy.linalg.linalg.LinAlgError: Singular matrix

2 原因

我们可以登录Matplotlib官网发现，kinetic中的python2.7和Matplotlib不兼容，并且不再支持Python2。

因此，我们需要寻找另一个可视化工具，PyQtGraph。

3 解决方法

• 安装PyQtGraph

• 官网：http://www.pyqtgraph.org/

• 我们下载之后安装就可以了。

4 deb文件安装方法

Ubuntu中deb文件详细安装方法：

1.首先打开电脑主界面。

2.然后找到“安装包”后双击。

3.最后点击“安装”键进行安装即可。

1）步骤1

2）步骤2