1.1 ROS初探
- 小海龟模拟:
1.2 rqt_graph可视化工具
1.3 一些常用命令行
(1)rosnode
rosnode list
rosnode info /turtlesim
(2)rostopic
rostopic list
rostopic info /turtle1/cmd_vel
rostopic echo /turtle1/pose
rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
x: 3.0
y: 2.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
(3)rosservice
rosservice list
rosservice info /spawn
rosservice call /spawn "x: 10.0
y: 5.0
theta: 30.0
name: 'turtle2'"