Ros 常用命令

Ros常用命令

Just for self learning！

1. Creating a Ros Package

$ cd ~/catkin_ws/src
$ # catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
$ cd ~/catkin_ws
$ catkin_make
$ . ~/catkin_ws/devel/setup.bash

2. Ros Topic

显示topic动态显示图

$ rosrun rqt_graph rqt_graph

命令行进行topic通信

$ # rostopic echo [topic]
$ rostopic help
$ # rostopic pub [topic] [msg_type] [args]
$ rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity  -- 2.0  1.8

3. Ros Service

rosservice list         print information about active services
rosservice call         call the service with the provided args
rosservice type         print service type
rosservice find         find services by service type
rosservice uri          print service ROSRPC uri

4. Running Ros

$ roscore
$ # rosrun [package_name] [node_name]
$ rosrun turtlesim turtlesim_node

*. Others

查找package目录

$ # rospack find [package_name]
$ rospack find roscpp

查看package依赖

$ rospack depends1 beginner_tutorials 

快速cd到某个Ros Package

$ roscd beginner_tutorials

显示节点

$ rosnode list
$ rosnode info /rosout
$ # ...

曲线绘制

$ rosrun rqt_plot rqt_plot