1.ROS文件系统
查找包路径
rospack find turtlesim
获得功能包或功能包下的列表
rosls turtlesim
进入某个文件夹
roscd turtlesim
2.节点
rosnode
rosnode is a command-line tool for printing information about ROS Nodes.
Commands:
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
Type rosnode <command> -h for more detailed usage, e.g. 'rosnode ping -h'
3.话题
rostopic
rostopic is a command-line tool for printing information about ROS Topics.
Commands:
rostopic bw display bandwidth used by topic
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
Type rostopic <command> -h for more detailed usage, e.g. 'rostopic echo -h'
4.服务
rosservice
Commands:
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
Type rosservice <command> -h for more detailed usage, e.g. 'rosservice call -h'
5.参数服务器
rosparam
rosparam is a command-line tool for getting, setting, and deleting parameters from the ROS Parameter Server.
Commands:
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
6.其他
1)TF工具
TF是一个让用户随时间跟踪多个坐标系的功能包,他使用树形结构数据,根据时间缓冲并维护多个坐标之间的变换关系,可以帮助开发者在任意时间、在坐标系间完成点、向量等坐标变换。
使用TF功能包:
-
a.监听TF变换
-
b.广播TF变换
TF工具:
-
tf_monitor
打印TF树中所有坐标系的发布状态
tf_monitor
查看指定坐标系之间的发布状态
tf_monitor <source_frame> <target_frame>
- tf_echo
tf_echo <source_frame> <target_frame>
- static_transform_publisher
发布两个坐标系之间的静态坐标变换,这两个坐标系不发生相对位置变化
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
- view_frames
生成PDF文件,显示整颗TF树的信息
rosrun tf view_frames