diff --git a/scripts/PathPlanning/RRTCar/figure_1.png b/scripts/PathPlanning/RRTCar/figure_1.png
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diff --git a/scripts/PathPlanning/RRTCar/matplotrecorder.py b/scripts/PathPlanning/RRTCar/matplotrecorder.py
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+++ b/scripts/PathPlanning/RRTCar/matplotrecorder.py
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+"""
+ A simple Python module for recording matplotlib animation
+
+ This tool use convert command of ImageMagick
+
+ author: Atsushi Sakai
+"""
+
+import matplotlib.pyplot as plt
+import subprocess
+
+iframe = 0
+
+
+def save_frame():
+    """
+    Save a frame for movie
+    """
+    global iframe
+
+    plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
+    iframe += 1
+
+
+def save_movie(fname, d_pause):
+    """
+    Save movie as gif
+    """
+    cmd = "convert -delay " + str(int(d_pause * 100)) + \
+        " recoder*.png " + fname
+    subprocess.call(cmd, shell=True)
+    cmd = "rm recoder*.png"
+    subprocess.call(cmd, shell=True)
+
+
+if __name__ == '__main__':
+    print("A sample recording start")
+    import math
+
+    time = range(50)
+
+    x1 = [math.cos(t / 10.0) for t in time]
+    y1 = [math.sin(t / 10.0) for t in time]
+    x2 = [math.cos(t / 10.0) + 2 for t in time]
+    y2 = [math.sin(t / 10.0) + 2 for t in time]
+
+    for ix1, iy1, ix2, iy2 in zip(x1, y1, x2, y2):
+        plt.plot(ix1, iy1, "xr")
+        plt.plot(ix2, iy2, "xb")
+        plt.axis("equal")
+        plt.pause(0.1)
+
+        save_frame()  # save each frame
+
+    save_movie("animation.gif", 0.1)
+    #  save_movie("animation.mp4", 0.1)