第四次学习记录(ROS)

学习目标：

ROS

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学习内容：

熟悉ROS

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学习时间：

周一晚上7:00-8:00 周二晚上8:00-9:00 周三晚上8:00-9:00 周四晚上8:00-9:00

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学习产出：

Test roscore

$ roscore

Start turnlesim

Start a turnlesim node and control its movement through the keyboard.
PS：To stop the cursor at this terminal.

$ rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key

Start RViz

• Rviz is a 3D visualization tool for ROS
• Subscribes to topics and visualizes the message contents
• DIfferent camera views.For example,orthographic,top-down.
• Interactive tools to publish user information
• Save and load setup as RViz configuration
• Extensible with plugins

$ rviz

Start Gazebo

• Simulate 3D rigid-body dynamics
• Simulate a variety of sensors including noise
• 3D visualization and uesr interaction
• Includes a database of many robots and environments
• Provides a ROS interface
• Extensible with plugins

$ gazebo

Draw pentagon by turtlesim
Open at different terminals

$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun turtle_actionlib shape_server
$ rosrun turtle_actionlib shape_client

TF2

$ roslaunch turtle_tf2 turtle_tf2_demo.launch
$ rviz

PS:Rviz needs to be configured correctly

URDF

$ roslaunch urdf_tutorial display.launch 

Rviz visualization

$ roscore
$ rosrun visualization_marker_tutorials points_and_lines
$ rviz

$ roscore
$ rosrun interactive_marker_tutorials pong
$ rviz

结语

微星启动ROS2GO真麻烦。