ROS常用命令

创建 ROS 工作空间

# 启动ros
roscore
# 创建工作环境
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
# 编译 ROS 程序
cd ~/catkin_ws
catkin_make
# 添加程序包到全局路径
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Package 相关操作

# 创建 Package 并编译
cd ~/catkin_ws/src
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
cd ~/catkin_ws
catkin_make
# 查找 Package
rospack find [package name]
# 查看 Package 依赖
rospack depends <package_name>
rospack depends1 <package_name>

Node 相关操作

# 查看所有正在运行的 Node
rosnode list
# 查看某节点信息
rosnode info [node_name]
# 运行 Node
rosrun [package_name] [node_name] [__name:=new_name]

Topic 相关操作

# 查看 rostopic 所有操作
rostopic -h
# 查看所有 Topic 列表
rostopic list
# 图形化显示 topic
rosrun rqt_graph rqt_graph
rosrun rqt_plot rqt_plot
# 查看某个 Topic 信息
rostopic echo [topic]
# 查看 Topic 消息格式
rostopic type [topic]
rosmsg show [msg_type]
# 向topic发布消息
rostopic pub [-1] <topic> <msg_type> [-r 1] -- [args] [args]

Service 相关操作

# 查看所以service操作
rosservice -h
# 查看 service 列表
rosservice list
# 调用 service
rosservice call [service] [args]
# 查看 service 格式并显示数据
rosservice type [service] | rossrv show
# 设置service parameter
rosparam set [parame_name] [args] + rosservice call clear
# 获得parameter
rosparam get [parame_name]
# 加载parameter
rosparam load [file_name] [namespace]
# 删除parameter
rosparam delete

Bag 相关操作

# 录制所有topic变化
rosbag record -a
# 记录某些topic
rosbag record -O subset <topic1> <topic2>
# 查看bag信息
rosbag info <bagfile_name>
# 回放
rosbag play (-r 2) <bagfile_name>