Learning ROS for Robotics Programming Second Edition学习笔记(二) indigo tools

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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(二) indigo tools

笔记一记录了一些常用的基本命令(cmd),笔记二介绍一些可视化的编译调试工具(tool)

--roscore

--roslaunch chapter2_tutorials chapter2.launch

--rosnode list 

/chap2_example1_a

/chap2_example1_b

/rosout

--rqt_console 

 


 

--rosrun chapter2_tutorials chap2_example4 

[ INFO] [1447807491.472441519]: Reconfigure Request: 1 0.100000 Chapter2_dynamic_reconfigure True 1

[ INFO] [1447807491.479674316]: Spinning node

--rosrun rqt_reconfigure rqt_reconfigure

 


--rosrun rqt_logger_level rqt_logger_level

 


 

Gazebo demo!

TIAGo tiago_simulation

https://github.com/pal-robotics/tiago_simulation

http://wiki.ros.org/Robots/TIAGo

--roscore

--roslaunch tiago_gazebo tiago_gazebo.launch

 


--roslaunch tiago_gazebo tiago_gazebo.launch world:=small_office

 


 

--rostopic list

/arm_controller/command

/arm_controller/follow_joint_trajectory/cancel

/arm_controller/follow_joint_trajectory/feedback

/arm_controller/follow_joint_trajectory/goal

/arm_controller/follow_joint_trajectory/result

/arm_controller/follow_joint_trajectory/status

/arm_controller/state

/attached_collision_object

/clock

/collision_object

/diagnostics

/gains/arm_1_joint/parameter_descriptions

/gains/arm_1_joint/parameter_updates

/gains/arm_2_joint/parameter_descriptions

/gains/arm_2_joint/parameter_updates

/gains/arm_3_joint/parameter_descriptions

/gains/arm_3_joint/parameter_updates

/gains/arm_4_joint/parameter_descriptions

/gains/arm_4_joint/parameter_updates

/gains/arm_5_joint/parameter_descriptions

/gains/arm_5_joint/parameter_updates

/gains/arm_6_joint/parameter_descriptions

/gains/arm_6_joint/parameter_updates

/gains/arm_7_joint/parameter_descriptions

/gains/arm_7_joint/parameter_updates

/gains/gripper_left_finger_joint/parameter_descriptions

/gains/gripper_left_finger_joint/parameter_updates

/gains/gripper_right_finger_joint/parameter_descriptions

/gains/gripper_right_finger_joint/parameter_updates

/gains/head_1_joint/parameter_descriptions

/gains/head_1_joint/parameter_updates

/gains/head_2_joint/parameter_descriptions

/gains/head_2_joint/parameter_updates

/gains/torso_lift_joint/parameter_descriptions

/gains/torso_lift_joint/parameter_updates

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/set_link_state

/gazebo/set_model_state

/gripper_controller/command

/gripper_controller/follow_joint_trajectory/cancel

/gripper_controller/follow_joint_trajectory/feedback

/gripper_controller/follow_joint_trajectory/goal

/gripper_controller/follow_joint_trajectory/result

/gripper_controller/follow_joint_trajectory/status

/gripper_controller/state

/ground_truth_odom

/head_controller/command

/head_controller/follow_joint_trajectory/cancel

/head_controller/follow_joint_trajectory/feedback

/head_controller/follow_joint_trajectory/goal

/head_controller/follow_joint_trajectory/result

/head_controller/follow_joint_trajectory/status

/head_controller/increment/cancel

/head_controller/increment/feedback

/head_controller/increment/goal

/head_controller/increment/result

/head_controller/increment/status

/head_controller/point_head_action/cancel

/head_controller/point_head_action/feedback

/head_controller/point_head_action/goal

/head_controller/point_head_action/result

/head_controller/point_head_action/status

/head_controller/state

/input_joy/cmd_vel

/ir/camera_info

/joint_states

/joy

/joy_priority

/joy_priority_action/cancel

/joy_priority_action/feedback

/joy_priority_action/goal

/joy_priority_action/result

/joy_priority_action/status

/joy_turbo_angular_decrease/cancel

/joy_turbo_angular_decrease/feedback

/joy_turbo_angular_decrease/goal

/joy_turbo_angular_decrease/result

/joy_turbo_angular_decrease/status

/joy_turbo_angular_increase/cancel

/joy_turbo_angular_increase/feedback

/joy_turbo_angular_increase/goal

/joy_turbo_angular_increase/result

/joy_turbo_angular_increase/status

/joy_turbo_decrease/cancel

/joy_turbo_decrease/feedback

/joy_turbo_decrease/goal

/joy_turbo_decrease/result

/joy_turbo_decrease/status

/joy_turbo_increase/cancel

/joy_turbo_increase/feedback

/joy_turbo_increase/goal

/joy_turbo_increase/result

/joy_turbo_increase/status

/joy_turbo_reset/cancel

/joy_turbo_reset/feedback

/joy_turbo_reset/goal

/joy_turbo_reset/result

/joy_turbo_reset/status

/joy_vel

/key_vel

/mobile_base_controller/cmd_vel

/mobile_base_controller/odom

/move_group/cancel

/move_group/display_contacts

/move_group/display_planned_path

/move_group/feedback

/move_group/goal

/move_group/monitored_planning_scene

/move_group/ompl/parameter_descriptions

/move_group/ompl/parameter_updates

/move_group/plan_execution/parameter_descriptions

/move_group/plan_execution/parameter_updates

/move_group/planning_scene_monitor/parameter_descriptions

/move_group/planning_scene_monitor/parameter_updates

/move_group/result

/move_group/sense_for_plan/parameter_descriptions

/move_group/sense_for_plan/parameter_updates

/move_group/status

/move_group/trajectory_execution/parameter_descriptions

/move_group/trajectory_execution/parameter_updates

/nav_vel

/pause_navigation

/pickup/cancel

/pickup/feedback

/pickup/goal

/pickup/result

/pickup/status

/place/cancel

/place/feedback

/place/goal

/place/result

/place/status

/planning_scene

/planning_scene_world

/play_motion/cancel

/play_motion/feedback

/play_motion/goal

/play_motion/result

/play_motion/status

/rosout

/rosout_agg

/scan

/sonar_base

/stop_closing_loop

/tab_vel

/text_marker

/tf

/tf_static

/torso_controller/command

/torso_controller/follow_joint_trajectory/cancel

/torso_controller/follow_joint_trajectory/feedback

/torso_controller/follow_joint_trajectory/goal

/torso_controller/follow_joint_trajectory/result

/torso_controller/follow_joint_trajectory/status

/torso_controller/increment/cancel

/torso_controller/increment/feedback

/torso_controller/increment/goal

/torso_controller/increment/result

/torso_controller/increment/status

/torso_controller/state

/trajectory_execution_event

/twist_marker

/xtion/depth/camera_info

/xtion/depth/image_raw

/xtion/depth/points

/xtion/ir/image_raw

/xtion/ir/image_raw/compressed

/xtion/ir/image_raw/compressed/parameter_descriptions

/xtion/ir/image_raw/compressed/parameter_updates

/xtion/ir/image_raw/compressedDepth

/xtion/ir/image_raw/compressedDepth/parameter_descriptions

/xtion/ir/image_raw/compressedDepth/parameter_updates

/xtion/ir/image_raw/theora

/xtion/ir/image_raw/theora/parameter_descriptions

/xtion/ir/image_raw/theora/parameter_updates

/xtion/parameter_descriptions

/xtion/parameter_updates

/xtion/rgb/camera_info

/xtion/rgb/image_raw

/xtion/rgb/image_raw/compressed

/xtion/rgb/image_raw/compressed/parameter_descriptions

/xtion/rgb/image_raw/compressed/parameter_updates

/xtion/rgb/image_raw/compressedDepth

/xtion/rgb/image_raw/compressedDepth/parameter_descriptions

/xtion/rgb/image_raw/compressedDepth/parameter_updates

/xtion/rgb/image_raw/theora

/xtion/rgb/image_raw/theora/parameter_descriptions

/xtion/rgb/image_raw/theora/parameter_updates

/xtion/rgb/points

 

--rostopic pub -1 /mobile_base_controller/cmd_vel geometry_msgs/Twist -- '[0.0, 0.0, 0.0]' '[0.0, 0.0, 10.0]'

 


--rosrun image_view image_view image:=/xtion/depth/image_raw

 


--rosrun rqt_graph rqt_graph

 


--rosrun rqt_reconfigure rqt_reconfigure

 


其他常用命令

--rosrun rqt_runtime_monitor rqt_runtime_monitor

--rosrun rqt_robot_monitor rqt_robot_monitor

--rosrun rqt_plot rqt_plot

--rosrun rqt_gui rqt_gui

--rosrun rqt_image_view rqt_image_view

--rosrun rqt_rviz rqt_rviz

--rosbag

 





 

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