ROS--tutorial命令记录

要用得到ros了,重新回忆一边教程,仅仅作为给自己记录使用.

rosnode

rosnode list
rosnode info /rosout

rosrun [package name] [node name]

rosrun turtlesim turtlesim_node __name:=my_turtle
rosnode ping my_turtle

rostopic

rqt

rostopic bw display bandwidth used by topic
rostopic echo print messages to screen
rostopic hz display publishing rate of topic
rostopic list print information about active topics
rostopic pub publish data to topic
rostopic type print topic type

rostopic list -v

rosmessage

rostopic type /turtle1/cmd_vel

rosmsg show

rostopic pub [topic] [msg_type] [args]

rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 – ‘[2.0, 0.0, 0.0]’ ‘[0.0, 0.0, -1.8]’

rostopic hz /topic

rosservice

rosservice type /clear

rosservice call [service] [args]

rosservice call spawn 2 2 0.2 “”

rosparam

rosparam set set parameter
rosparam get get parameter
rosparam load load parameters from file
rosparam dump dump parameters to file
rosparam delete delete parameter
rosparam list list parameter names

rosparam set background_r 150

rosservice call clear

rosparam get background_g
rosparam get /

rosparam dump [file_name] [namespace]
rosparam load [file_name] [namespace]

rqt_console

rqt_console
rqt_log

roslaunch

roslaunch [package] [filename.launch]

roslaunch beginner_tutorials turtlemimic.launch

rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 – ‘[2.0, 0.0, 0.0]’ ‘[0.0, 0.0, -1.8]’

<launch>  <group ns="turtlesim1">    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>  </group>  <group ns="turtlesim2">    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>  </group>  <node pkg="turtlesim" name="mimic" type="mimic">    <remap from="input" to="turtlesim1/turtle1"/>    <remap from="output" to="turtlesim2/turtle1"/>  </node></launch>

msg

cd /catkinws/src/beginnertutorials mkdir msg
$ echo “int64 num” > msg/Num.msg

Open package.xml, and make sure these two lines are in it and uncommented:

message_generation
message_runtime

srv

rossrv show beginner_tutorials/AddTwoInts

tf

sudo apt-get install ros-indigo-ros-tutorials ros-indigo-geometry-tutorials ros-indigo-rviz ros-indigo-rosbash ros-indigo-rqt-tf-tree

roslaunch turtle_tf turtle_tf_demo.launch

evince frames.pdf

rosrun rqt_tf_tree rqt_tf_tree

rosrun tf tf_echo turtle1 turtle2

rosrun rviz rviz -d rospack find turtle_tf/rviz/turtle_rviz.rviz

rosrun tf tf_monitor turtle2 turtle1

IDE

kdevelop
-DCATKIN_DEVEL_PREFIX=../devel -DCMAKE_INSTALL_PREFIX=../install

usb camera

ros-indigo-usb-cam
rosrun usb_cam usb_cam_node