常见启动rosmaster: roscore or roslaunch
命令后跟 -h 可查询命令相关帮助
rosnode list 列出所有node
rosnode info [node_name]查看某一node
rosrun [package_name] [node_name] [filename.world]可运行某一package
rosnode ping [node_name]
rostopic相关命令
rostopic bw display bandwidth used by topic rostopic echo print messages to screen rostopic hz display publishing rate of topic rostopic list print information about active topics rostopic pub publish data to topic rostopic type print topic type 查看类型
rosmsg show [type] 打印topic类型内的详情
rostopic pub [topic] [msg_type] [args]
例如rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
rostopic hz [topic]查看频率 rosrun rqt_plot rqt_plot 查看信号图形
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
rosparam set set parameter rosparam get get parameter rosparam load load parameters from file rosparam dump dump parameters to file rosparam delete delete parameter rosparam list list parameter names