Learning ROS for Robotics Programming Second Edition学习笔记(一) indigo v-rep

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中文译著已经出版,详情请参考:http://blog.csdn.net/ZhangRelay/article/category/6506865

Learning ROS for Robotics Programming Second Edition学习笔记() indigo v-rep

安装系统ubuntu14.04ros indigo

注意:环境配置。

ROS体系结构与概念

注意理解:

启动核,roscore.

文件系统层,包,包清单,消息,服务,工作空间等。

运算图层,节点,主,消息,主题,服务,包等。

Nodes: rosun, rosnode, Topics: rostopic, Services: rosservice, Messages: rosmsg, Bags: rosbag.

快速查找:rospack find, rosstack find, rosls, roscd.

建立自己工作空间(workspace), 非常重要,mkdir /catkin_ws/src, catkin_init_workspace, catkin_make. 

新建包和元包,catkin_create_pkg.

编译,catkin_make.

小乌龟例子回顾

常用:roscore, rosnode, rosrun, rostopic, rosmsg, rosservice, rosparam, roscd, roslaunch. 

--roscore

--rosrun turtlesim turtlesim_node

 

--rosrun turtlesim turtle_teleop_key

 

--rosnode list

/rosout

/teleop_turtle

/turtlesim

--rostopic list

/rosout

/rosout_agg

/turtle1/cmd_vel

/turtle1/color_sensor

/turtle1/pose

--rostopic type /turtle1/cmd_vel

geometry_msgs/Twist

--rosmsg show geometry_msgs/Twist

geometry_msgs/Vector3 linear

  float64 x

  float64 y

  float64 z

geometry_msgs/Vector3 angular

  float64 x

  float64 y

  float64 z

--rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'

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


--rosservice list

/clear

/kill

/reset

/rosout/get_loggers

/rosout/set_logger_level

/spawn

/teleop_turtle/get_loggers

/teleop_turtle/set_logger_level

/turtle1/set_pen

/turtle1/teleport_absolute

/turtle1/teleport_relative

/turtlesim/get_loggers

/turtlesim/set_logger_level

--rosservice call /spawn 3 3 0.2 "new_turtle"


--rosparam list

/background_b

/background_g

/background_r

/rosdistro

/rosversion

/run_id

--rosparam set /background_b 100

 ------------------------------------------------------------------------------------------------------------------------------------------------

V-Rep例子

--roscore

--./vrep.sh


--rosnode list

/rosout

/vrep

--rosservice list

/rosout/get_loggers

/rosout/set_logger_level

/vrep/get_loggers

/vrep/set_logger_level

/vrep/simRosAddStatusbarMessage

/vrep/simRosAuxiliaryConsoleClose

/vrep/simRosAuxiliaryConsoleOpen

/vrep/simRosAuxiliaryConsolePrint

/vrep/simRosAuxiliaryConsoleShow

/vrep/simRosBreakForceSensor

/vrep/simRosClearFloatSignal

/vrep/simRosClearIntegerSignal

/vrep/simRosClearStringSignal

/vrep/simRosCloseScene

/vrep/simRosCopyPasteObjects

/vrep/simRosCreateDummy

/vrep/simRosDisablePublisher

/vrep/simRosDisableSubscriber

/vrep/simRosDisplayDialog

/vrep/simRosEnablePublisher

/vrep/simRosEnableSubscriber

/vrep/simRosEndDialog

/vrep/simRosEraseFile

/vrep/simRosGetAndClearStringSignal

/vrep/simRosGetArrayParameter

/vrep/simRosGetBooleanParameter

/vrep/simRosGetCollisionHandle

/vrep/simRosGetDialogInput

/vrep/simRosGetDialogResult

/vrep/simRosGetDistanceHandle

/vrep/simRosGetFloatSignal

/vrep/simRosGetFloatingParameter

/vrep/simRosGetInfo

/vrep/simRosGetIntegerParameter

/vrep/simRosGetIntegerSignal

/vrep/simRosGetJointMatrix

/vrep/simRosGetJointState

/vrep/simRosGetLastErrors

/vrep/simRosGetModelProperty

/vrep/simRosGetObjectChild

/vrep/simRosGetObjectFloatParameter

/vrep/simRosGetObjectGroupData

/vrep/simRosGetObjectHandle

/vrep/simRosGetObjectIntParameter

/vrep/simRosGetObjectParent

/vrep/simRosGetObjectPose

/vrep/simRosGetObjectSelection

/vrep/simRosGetObjects

/vrep/simRosGetStringParameter

/vrep/simRosGetStringSignal

/vrep/simRosGetUIButtonProperty

/vrep/simRosGetUIEventButton

/vrep/simRosGetUIHandle

/vrep/simRosGetUISlider

/vrep/simRosGetVisionSensorDepthBuffer

/vrep/simRosGetVisionSensorImage

/vrep/simRosLoadModel

/vrep/simRosLoadScene

/vrep/simRosLoadUI

/vrep/simRosPauseSimulation

/vrep/simRosReadCollision

/vrep/simRosReadDistance

/vrep/simRosReadForceSensor

/vrep/simRosReadProximitySensor

/vrep/simRosReadVisionSensor

/vrep/simRosRemoveModel

/vrep/simRosRemoveObject

/vrep/simRosRemoveUI

/vrep/simRosSetArrayParameter

/vrep/simRosSetBooleanParameter

/vrep/simRosSetFloatSignal

/vrep/simRosSetFloatingParameter

/vrep/simRosSetIntegerParameter

/vrep/simRosSetIntegerSignal

/vrep/simRosSetJointForce

/vrep/simRosSetJointPosition

/vrep/simRosSetJointState

/vrep/simRosSetJointTargetPosition

/vrep/simRosSetJointTargetVelocity

/vrep/simRosSetModelProperty

/vrep/simRosSetObjectFloatParameter

/vrep/simRosSetObjectIntParameter

/vrep/simRosSetObjectParent

/vrep/simRosSetObjectPose

/vrep/simRosSetObjectPosition

/vrep/simRosSetObjectQuaternion

/vrep/simRosSetObjectSelection

/vrep/simRosSetSphericalJointMatrix

/vrep/simRosSetStringSignal

/vrep/simRosSetUIButtonLabel

/vrep/simRosSetUIButtonProperty

/vrep/simRosSetUISlider

/vrep/simRosSetVisionSensorImage

/vrep/simRosStartSimulation

/vrep/simRosStopSimulation

/vrep/simRosSynchronous

/vrep/simRosSynchronousTrigger

/vrep/simRosTransferFile

--rostopic list

/rosout

/rosout_agg

/tf

/vrep/info

启动仿真

--rosservice call /vrep/simRosStartSimulation

result: 1

停止仿真

--rosservice call /vrep/simRosStopSimulation

启动场景

Test.ttt


--rostopic list

/rosout

/rosout_agg

/tf

/vrep/Vision_sensor_0

/vrep/Vision_sensor_0/compressed

/vrep/Vision_sensor_0/compressed/parameter_descriptions

/vrep/Vision_sensor_0/compressed/parameter_updates

/vrep/Vision_sensor_0/compressedDepth

/vrep/Vision_sensor_0/compressedDepth/parameter_descriptions

/vrep/Vision_sensor_0/compressedDepth/parameter_updates

/vrep/Vision_sensor_0/theora

/vrep/Vision_sensor_0/theora/parameter_descriptions

/vrep/Vision_sensor_0/theora/parameter_updates

/vrep/base/pose

/vrep/camera_info

/vrep/end_eff/pose

/vrep/imu

/vrep/info

/vrep/quadrotor_0/pose

/vrep/quadrotor_0/twist

/vrep/viper_0/jointStatus

ROS查看四旋翼虚拟摄像头

--rosrun image_view image_view image:=/vrep/Vision_sensor_0

--rosservice call /vrep/simRosStartSimulation



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