一、rosnode
rosnode命令能够显示当前进程节点信息。
rosnode ping test connectivity to node(测试与节点的链接,以延迟(ms)的形式来定量显示)在命令后需加上节点名称
rosnode list list active nodes(显示当前进程中的节点列表)
rosnode info print information about node(显示节点信息)在命令后需加上节点名称
例如输入命令 rosnode info /teleop_turtle后,得到如下信息:
Node [/teleop_turtle]
Publications: (发布的消息)
* /rosout [rosgraph_msgs/Log]
* /turtle1/cmd_vel [geometry_msgs/Twist]
Subscriptions: None (接受的消息)
Services:
* /teleop_turtle/get_loggers
* /teleop_turtle/set_logger_level
contacting node http://sulam-Lenovo-Legion-Y7000P-1060:36481/ ...
Pid: 21231
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /turtle1/cmd_vel
* to: /turtlesim
* direction: outbound
* transport: TCPROS
rosnode machine list nodes running on a particular machine or list machines(显示节点在哪个设备上运行)
rosnode kill kill a running node(关闭某个节点)
rosnode cleanup purge registration information of unreachable nodes(清除无法访问的节点的注册信息)
其余命令例如 rostopic rossevice rosmsg rosparam rossrv等都可以在键入同名命令后了解命令功能。