pose-table-tui

A terminal table that displays live PoseStamped poses from ROS 2. For each topic provided on the command line, it subscribes to that topic (geometry_msgs/PoseStamped), accumulates incoming messages between display ticks, and shows the averaged pose in a refreshing table.

Modernized and adapted from the original ROS 1 version.

Prerequisites

• ROS 2 (Humble or later) sourced in your shell
• uv — install instructions

Setup

uv venv --system-site-packages
uv sync

uv venv --system-site-packages creates .venv/ with access to the system ROS 2 packages (rclpy, geometry_msgs, etc.). uv sync then installs the remaining pip-managed dependencies (numpy, pandas, scipy, tabulate) into that venv.

Usage

uv run pose-table-tui.py TOPIC [TOPIC ...] [--dim {2,3}] [--hz HZ] [--rotation {zyx,xyz}]

Argument	Default	Description
TOPIC [TOPIC ...]	(required)	One or more full topic paths to monitor
--dim {2,3}	3	Pose dimensions — 3 shows x/y/z/roll/pitch/yaw, 2 shows x/y/yaw
--hz HZ	1.0	Display refresh rate (Hz); poses are averaged over each interval
--decimals N	3	Number of decimal places shown in the table
--rotation {zyx,xyz}	zyx	Euler rotation convention for decomposing quaternions

Example

# Monitor three topics at 2 Hz, 3D poses
uv run pose-table-tui.py /alpha/world /bravo/world /charlie/world --hz 2

# Monitor two topics with 2D poses only
uv run pose-table-tui.py /alpha/world /bravo/world --dim 2

# Use xyz Euler convention
uv run pose-table-tui.py /dlio/odom-node/pose --rotation xyz

Example output:

+----------------------+--------+--------+--------+--------+---------+---------+
|                      |      x |      y |      z |   roll |   pitch |     yaw |
|----------------------+--------+--------+--------+--------+---------+---------|
| /alpha/world         |  1.234 |  0.567 |  0.012 |  0.100 |  -0.200 |  45.300 |
| /bravo/world         |  3.456 |  2.345 |  0.023 |  0.050 |   0.100 | -12.500 |
| /charlie/world       |    nan |    nan |    nan |    nan |     nan |     nan |
| /dlio/odom_node/pose |  1.234 |  0.567 |  0.012 |  0.100 |  -0.200 |  45.300 |
+----------------------+--------+--------+--------+--------+---------+---------+

nan means no messages arrived during the last display interval.