ROS命令行工具的使用

以小海龟为例

启动ROS Master

roscore

启动小海龟仿真器 （运行一个节点需重新打开一个终端）

rosrun turtlesim turtlesim_node#rosrun+功能包名+节点名

启动海龟键盘控制节点

rosrun turtlesim turtle_teleop_key

基于qt的可视化工具命令–rqt_graph

rqt_graph

/teleop_tutle:键盘控制节点
/turtlesim：小海龟仿真器节点
/turtle/cmd_vel:一个话题

显示ros系统相关节点的指令rosnode

把系统中的结点全部都列出来

rosnode list

输出

/rosout
/teleop_turtle
/turtlesim

查看某一节点具体的信息

rosnode info turtlesim #rosnode info +节点名

输出

--------------------------------------------------------------------------------
Node [/turtlesim]
Publications: 
 * /rosout [rosgraph_msgs/Log]
 * /turtle1/color_sensor [turtlesim/Color]
 * /turtle1/pose [turtlesim/Pose]

Subscriptions: 
 * /turtle1/cmd_vel [geometry_msgs/Twist]

Services: 
 * /clear
 * /kill
 * /reset
 * /spawn
 * /turtle1/set_pen
 * /turtle1/teleport_absolute
 * /turtle1/teleport_relative
 * /turtlesim/get_loggers
 * /turtlesim/set_logger_level


contacting node http://sxc:33697/ ...
Pid: 2768
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /turtle1/cmd_vel
    * to: /teleop_turtle (http://sxc:39695/)
    * direction: inbound
    * transport: TCPROS

话题指令rostopic

查看话题相关命令行

rostopic

输出

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'

发布话题

#tab键自动补全
#rostopic pub [话题名称] [消息类型] [参数]
#重复发布为rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist (10为发布频率10Hz)
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 

输出
小海龟向前移动1米（要旋转需要调z角度）

publishing and latching message. Press ctrl-C to terminate

服务指令rosservice

rosservice list

输出

/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/rostopic_5859_1602574431210/get_loggers
/rostopic_5859_1602574431210/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level

发布服务请求，再生成一只小海龟

#使用TAB自动补全
#名字不能数字开头
rosservice call /spawn "x: 3.0
y: 2.0
theta: 1.0
name: 't123'" 

rosbag指令

#rosbag record -a -O [保存名字]
#ctrl+C停止保存
#数据保存在终端的默认路径/home下面
rosbag record -a -O cmd_record

输出

[ INFO] [1602575574.470557135]: Recording to cmd_record.bag.
[ INFO] [1602575574.472277478]: Subscribing to /turtle1/color_sensor
[ INFO] [1602575574.476421995]: Subscribing to /t126/pose
[ INFO] [1602575574.480495891]: Subscribing to /t122/color_sensor
[ INFO] [1602575574.484927372]: Subscribing to /t123/color_sensor
[ INFO] [1602575574.489632244]: Subscribing to /t126/color_sensor
[ INFO] [1602575574.492828161]: Subscribing to /t123/pose
[ INFO] [1602575574.495855609]: Subscribing to /rosout
[ INFO] [1602575574.501550474]: Subscribing to /rosout_agg
[ INFO] [1602575574.505169971]: Subscribing to /turtle2/cmd_vel
[ INFO] [1602575574.508091612]: Subscribing to /t122/pose
[ INFO] [1602575574.510642892]: Subscribing to /turtle1/cmd_vel
[ INFO] [1602575574.513499301]: Subscribing to /turtle1/pose

显示其开始订阅该节点的一些话题

复现数据

#rosbag play [保存名字]
#需要把包名写完整
rosbag play cmd_record.bag

输出

[ INFO] [1602575953.066716673]: Opening cmd_record.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
 [DELAYED]  Bag Time: 1602575574.516566   Duration: 0.000000 / 69.617541   Delay [RUNNING]  Bag Time: 1602575574.516566   Duration: 0.000000 / 69.617541         [RUNNING]  Bag Time: 1602575574.516566   Duration: 0.000000 / 69.617541         [RUNNING]  Bag Time: 1602575574.518096   Duration: 0.001530 / 69.617541         [RUNNING]  Bag Time: 1602575574.618222   Duration: 0.101656 / 69.617541         [RUNNING]  Bag Time: 1602575574.676242   Duration: 0.159676 / 69.617541         [RUNNING]  Bag Time: 1602575574.677091   Duration: 0.160526 / 69.617541         [RUNNING]  Bag Time: 1602575574.693258   Duration: 0.176692 / 69.617541         [RUNNING]  Bag Time: 1602575574.709516   Duration: 0.192950 / 69.617541         [RUNNING]  Bag Time: 1602575574.725487   Duration: 0.208921 / 69.617541         [RUNNING]  Bag Time: 1602575574.725611   Duration: 0.209046 / 69.617541