Dont't forget to export the master and the IP of H (e.g. export ROS_MASTER_URI=http://wifibot-lab:11311 and export ROS_IP=192.168.1.100)

Run rqt_plot: rosrun rqt_plot rqt_plot

Add the topic: /odom/pose/pose/position/x

Move R one meter forward. The plot should show a corresponding increase.

Repeat with the topic /odom/pose/pose/orientation/z