ROS-Note：roswtf

roswtf

roswtf用于检查 ros的安装运行
通过以下方式检查roscore是否在运行

$ ps -ef | grep -i rosmaster
	00:00:00 /usr/bin/python /opt/ros/kinetic/bin/rosmaster    

安装检查

roswtf可以检查你的系统并尝试发现问题
会输出各种详细信息

$ roscd rosmaster
$ roswtf
			Package: rosmaster
			================================================================================
			Static checks summary:
			
			No errors or warnings
			================================================================================
			
			ROS Master does not appear to be running.
			Online graph checks will not be run.
			ROS_MASTER_URI is [http://localhost:11311]

Package: rosmaster：roswtf使用当前目录中的内容来确定其执行检查的内容，这个输出告诉我们是在rosmaster的目录中启动了roswtf

Static checks summary：它会报告任何关于文件系统或非运行时（比如无需roscore的场景）的问题。本例显示我们没有错误。

ROS Master does not appear to be running.：roscore未在运行。roswtf不会做任何ROS在线检查。

在线检查

$ roscd
$ roswtf
			No package or stack in context
			======================================================
			Static checks summary:
			
			No errors or warnings
			======================================================
			Beginning tests of your ROS graph. These may take awhile...
			analyzing graph...
			... done analyzing graph
			running graph rules...
			... done running graph rules
			
			Online checks summary:
			
			Found 1 warning(s).
			Warnings are things that may be just fine, but are sometimes at fault
			
			WARNING The following node subscriptions are unconnected:
			 * /rosout:
			   * /rosout

roscore已经运行，roswtf做了一些ROS图的在线检查。根据运行的ROS节点的数量，这可能需要很长时间才能完成。
这一次它产生了一个警告,roscd在没有参数的情况下运行，这可能会产生没有ROS包的目录文件

错误

$ roscd
$ ROS_PACKAGE_PATH=bad:$ROS_PACKAGE_PATH roswtf
			Stack: ros
			================================================================================
			Static checks summary:
			
			Found 1 error(s).
			
			ERROR Not all paths in ROS_PACKAGE_PATH [bad] point to an existing directory: 
			 * bad
			
			================================================================================
			
			Cannot communicate with master, ignoring graph checks

roswtf发现了一个有关ROS_PACKAGE_PATH设置的错误