ROS下常见调试命令汇总

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