ROS相关

常用命令

1. rostopic pub [data…]
   NOTE: KEY Tab always useful!

   There are three modes that rostopic can publish in:

   (1). Latching mode：rostopic will publish a message to /topic_name and keep it latched – any new subscribers that come online after you start rostopic will hear this message. You can stop this at any time by pressing ctrl-C.

   (2). Once mode：If you don’t want to have to stop rostopic with ctrl-C, you can publish in once mode. rostopic will keep the message latched for 3 seconds, then quit.

   (3). Rate mode：In rate mode, rostopic will publish your message at a specific rate. For example, -r 10 will publish at 10hz. For file and piped input, this defaults to 10hz.

   Options:

   -l, --latch: Enable latch mode. Latching mode is the default when using command-line arguments. Publishing and latching message. Press ctrl-C to terminate

   -r RATE: Enable rate mode. Rate mode is the default (10hz) when using piped or file input.

   -1, --once: Enable once mode. publishing and latching message for 3.0 seconds

   -f FILE: Read message fields from YAML file. YAML syntax is equivalent to output of rostopic echo. Messages are separated using YAML document separator —. To use only the first message in a file, use the --latch option. (Data types are be interpreted using YAML-syntax, e.g. 1 is an integer, 1.0 is a float, and foo is a string. )
   e.g.
   (1). Latching
   rostopic pub /topic_name std_msgs/String hello
   rostopic pub my_topic std_msgs/String “hello there”
   (2). Once
   rostopic pub -1 my_topic std_msgs/String “hello there”
   (3). RATE
   rostopic pub -r 10 my_topic std_msgs/String “hello there”
   (4). FILE
   NEED TO ADD
   REFERENCE: http://wiki.ros.org/rostopic

2. rosclean
   clean the cache of current workspace.
   e.g. cd to your workspace
   rosclean check
   y
   y

3. killall -9 roscore

   killall -9 rosmaster

4. killall gzserver
   killall gzclient