数据类型
int8, int16, int32, int64 (plus uint*)
float32, float64
string
time, duration
other msg files
variable-length array[] and fixed-length array[]
变量
- $ROS_PACKAGE_PATH
命令
- rospack
- 包的依赖 rospack depends1 xx 或 rospack depends rospy
- rosls
- roscd
roslog
catkin_make –source myworkspace 指定make的目录
roscore
rosnode list
- rosnode info /rosout
rosnode ping rosout
rosrun turtlesim turtlesim_node (可选 __name:=my_turtle)
rostopic list -v 列出所有主题的发布和接收
rostopic echo可以显示在某个话题上发布的数据胡
rosrun rqt_graph rqt_graph 绘制各个node发布和接收的topic
rosparam list
- rosparam get /
创建一个workspace
$ mkdir -p ~/catkin_ws/src
$ cd ~/c$ cd ~/catkin_ws/
$ catkin_make_init_workspace
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
创建包
cd ~/catkin_ws/src
catkin_create_pkg common std_msgs rospy roscpp
编译包
- 编译所有包
cd ~/catkin_ws/ && catkin_make
- 编译指定的包
cd ~/catkin_ws/ && catkin_make --pkg xxx