1. rosnode list: 列出运行的节点;
2. roscore :运行节点管理器;
3. rospack find nodename:查找功能包路径;
4. rosls packname:查找功能包下面的文件列表;
5. echo $ROS_PACKAGE_PATH:查看正在使用的工作空间;
cd ~
mkdir –p dev/rosbook
6. echo “exportROS_PACKAGE_PATH=~/dev/rosbook:${ROS_PACKAGE_PATH}” >>
~/.bashrc
. ~/.bashrc
:将新目录~/dev/rosbook添加到ROS_PACKAGE_PATH;
7.roscreate-pkg [package_name] [depend1][depend2] [depend3]:创建新的功能包;
8.rosmake [packname] :编译功能包;
9.rosnode info [nodename]:列出节点信息;
10.rostopic list:列出活动主题列表;
11.rosservice list:列出活动服务列表;
12.rostopic type [topicname]:查看主题发出消息类型;
13.rosservice type [svc name]:查看服务类型;
14.rosserviece call [service] [args]:调用服务;
15:rosservice type [service] | rossrv show:查看服务消息类型参数;
16:rosparam list : 列出服务器重所有参数;
17:rosparam get [paraname]:获取参数值;
18:rosparam set [paraname] [new val]:设置参数;
19:rosed:编辑文件工具;
20:rosmake [packname]:编译节点;
21:rosmsg show [packname/msgname]
22:rossrv show [packname/srvname]
23: apt-cache search ros-jade 查看所有包
24.rosmsg show [msgtype] :查看消息字段
rosrun rqt_graph rqt_graph:查看节点和消息
rosrun image_view image_view image:=/camera/rgb/image_color:查看图像
rosrun hokuyo_node hokuyo_node :hokuyo激光雷达
rosrun map_server map_saver -f map :保存地图
rosrun tf view_frames 查看坐标变换,保存为PDF