1、rosnode:节点查询,操作命令
1. rosnode ping talker(节点名)
- 测试到节点的连通状态
- 返回结果:
rosnode ping talker rosnode: node is [/talker] pinging /talker with a timeout of 3.0s xmlrpc reply from http://d102-W65KJ1-KK1:35707/ time=0.540018ms xmlrpc reply from http://d102-W65KJ1-KK1:35707/ time=1.176357ms
2. rosnode list
- 列出活动节点
- 返回结果:
rosnode list /listener /rosout /talker
3. rosnode info talker(节点名)
- 查询节点信息
- 返回结果:
rosnode info talker -------------------------------------------------------------------------------- Node [/talker] Publications: * /chatter [std_msgs/String] * /rosout [rosgraph_msgs/Log] Subscriptions: None Services: * /talker/get_loggers * /talker/set_logger_level contacting node http://d102-W65KJ1-KK1:35707/ ... Pid: 7033 Connections: * topic: /rosout * to: /rosout * direction: outbound (39331 - 127.0.0.1:57890) [11] * transport: TCPROS * topic: /chatter * to: /listener * direction: outbound (39331 - 127.0.0.1:59130) [12] * transport: TCPROS
4. rosnode machin d102-W65KJ1-KK1(设备名)
- 列出指定设备上的节点:ros是分布式控制,每个设备上可能运行不同的节点
- 返回结果:
rosnode machine d102-W65KJ1-KK1 /rosout
5. rosnode kill listener(节点名)
- 杀死某个节点
- 返回结果:
rosnode kill listener killing /listener killed
6. rosnode cleanup
- 杀死僵尸节点
- 返回结果:无
2、rostopic:话题查询,操作命令
1. rostopic list (-v)
- 打印当前运行状态下的话题名,-v获取话题详情
- 返回结果:
rostopic list /chatter /rosout /rosout_agg
rostopic list -v Published topics: * /rosout_agg [rosgraph_msgs/Log] 1 publisher * /rosout [rosgraph_msgs/Log] 2 publishers * /chatter [public_massage/Person] 1 publisher Subscribed topics: * /rosout [rosgraph_msgs/Log] 1 subscriber * /chatter [public_massage/Person] 1 subscriber
2. rostopic pub 话题名 消息类型 消息内容
- 通过命令向订阅者发布消息 记得source一下路径,其中,话题名需要自己写,消息类型和消息内容,可以通过TAB键补齐
- 返回结果:
设置发布频率:rostopic pub chatter public_massage/Person "name: 'xiaomage' age: 13 height: 10.0" publishing and latching message. Press ctrl-C to terminate
rostopic pub -r 10 chatter public_massage/Person "name: 'sd' age: 5 height: 0.30"
3. rostopic echo 话题名
- 获取指定话题发布的消息,一定要在同意工作空间下,其他的命令某有要求
- 返回结果:
rostopic echo chatter name: "xiaomage" age: 37 height: 1.78 --- name: "xiaomage" age: 38 height: 1.78 --- name: "xiaomage" age: 39 height: 1.78 ---
4. rostopic info 话题名
- 获取当前话题大相关信息
- 返回结果:
rostopic info chatter Type: public_massage/Person Publishers: * /talker (http://d102-W65KJ1-KK1:37521/) Subscribers: * /listener (http://d102-W65KJ1-KK1:44919/)
5. rostopic type 话题名
- 获取话题的消息类型
- 返回结果:
rostopic type chatter public_massage/Person
6. rostopic find 消息类型
- 根据消息类型查找话题
- 返回结果:
rostopic find public_massage/Person /chatter
7. rostopic hz 话题名
- 列出消息发布频率
- 返回结果:
rostopic hz chatter subscribed to [/chatter] no new messages average rate: 1.000 min: 1.000s max: 1.000s std dev: 0.00000s window: 2
8. rostopic bw 话题名
- 列出消息发布带宽
- 返回结果:
rostopic bw chatter subscribed to [/chatter] average: 27.14B/s mean: 22.00B min: 22.00B max: 22.00B window: 2
3、rosmsg:显示消息类型,信息
1. rosmsg list
- 列出当前ros中所有的msg
- 返回结果:包名/数据格式名
visualization_msgs/Marker visualization_msgs/MarkerArray visualization_msgs/MenuEntry
2. rosmsg packages
- 列出包含消息的所有包
- 返回结果:
actionlib actionlib_msgs actionlib_tutorials bond control_msgs controller_manager_msgs diagnostic_msgs
3. rosmsg package 包名
- 列出某个包下的所有msg
- 返回结果:
rosmsg package public_massage public_massage/Person
4. rosmsg show 包名/数据名
- 显示消息描述
- 返回结果:
rosmsg show public_massage/Person string name uint16 age float64 height
5. rosmsg info 包名/数据名
- 显示消息描述
- 返回结果:
osmsg info public_massage/Person string name uint16 age float64 height
6. rosmsg md5
- 未知
- 返回结果: