2、ROS命令行工具

1、使用rqt_graph可视化工具查看系统中运行的计算图

rqt_graph

结果显示：

2、resnode 系列

	rosnode ping	test connectivity to node
	rosnode list	list active nodes
	rosnode info	print information about node
	rosnode machine	list nodes running on a particular machine or list machines
	rosnode kill	kill a running node
	rosnode cleanup	purge registration information of unreachable nodes

 （1）查看话题列表

	rosnode list	

结果显示：

（2）发布话题消息

rosnode info /turtlesim

3、rostopic系列，话题消息

	rostopic delay	display delay of topic from timestamp in header
	rostopic echo	print messages to screen
	rostopic find	find topics by type
	rostopic hz	display publishing rate of topic    
	rostopic info	print information about active topic
	rostopic list	list active topics
	rostopic pub	publish data to topic
	rostopic type	print topic or field type

 发布话题消息，按下Ctrl+C,指令发布停止

修改指标，海龟只移动一次
rostopic pub /turtle1/cmd_vel  geometry_msgs/Twist  "linear:

海龟持续移动，撞了南墙还在动
ros@ubuntu:~$ rostopic pub -r 10 /turtle1/cmd_vel  geometry_msgs/Twist  "linear:
        
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 

修改Z坐标。海龟可以旋转
ros@ubuntu:~$ rostopic pub -r 10 /turtle1/cmd_vel  geometry_msgs/Twist  "linear: 
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0

4、rosservice 系列，服务请求

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

发布服务请求

搞一只新的海龟
rosservice call /spawn "x: 2.0
y: 2.0
theta: 0.0
name: 'turtles2'" 

 5、rosbag系列

话题记录

话题记录，输入以下指令，移动海龟，海归的运动轨迹就会被记录在cmd_record.bag中
rosbag record -a -O cmd_record

话题复现

话题复现，执行下列代码，海龟会按照记录线重新走一遍
rosbag play cmd_record.bag