ROS入门知识和常用命令

ROS笔记

一、初学ROS

1.1 常见命令

rostopic
rosservice
rosnode
rosparam
rosmsg
rossrv

1.2 启动小海龟

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

1.3 查看话题列表

rosnode list

1.4 发布话题消息

rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist"linear

1.5 发布服务请求

rosservice call /spawn"x

1.6 话题记录

rosbag record -a -O cmd_record'

1.7 话题复现

rosbag play cmd_record.bag

二、工作空间

2.1 创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

2.2 编译工作空间

catkin_make

2.3 设置环境变量

source devel/setup.bash

2.4 检查环境变量

echo $ROS_PACKAGE_PATH

2.5 创建功能包

catkin_create_pkg test_pkg std_msgs rospy roscpp

三、CMAKE 编译规则

add_executable(velocity_publisher src/velocity_publisher.cpp)//设置需要编译代码和生成可执行文件
target_link_libraries(velocity_publisher${catkin_LIBRARIES}) //设置链接库
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)

四、扩展

4.1 连接摄像头

4.1.1 USB摄像头

sudo apt-get install ros-kinetic-usb-cam
roslaunch usb_cam usb_cam-test.launch
rqt_image_view

4.1.2 Kinect摄像头

sudo apt-get install ros-kinetic-freenect-*
git clone https://github.com/avin2/SensorKinect.git
cd SenserKinect/Bin
tar xvf SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2
sudo ./install.sh