ROS重学-调试命令

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