ROS_Beginner_tutorial

1. FileSystem in ROS

# rospack find [package_name]      //找到package的路径
# roscd [locationname[/subdir]]    //进入到package的目录下
$ echo $ROS_PACKAGE_PATH
# rosls [locationname[/subdir]]

2. Creat and build a package

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

然后catkin_make即可创建package

查询依赖：

$ rospack depends1 beginner_tutorials 

$ rospack depends beginner_tutorials

个性化你的package: package.xml

首先是作者信息等，然后是build_depend, run_depend等

3. Understand Nodes

• Nodes: A node is an executable file within a ROS package that uses ROS to communicate with other nodes. Nodes can publish or subscribe to a Topic. Nodes can also provide or use a Service.

• Messages: ROS data type used when subscribing or publishing to a topic.

• Topics: Nodes canpublish messages to a topic as well assubscribe to a topic to receive messages.

• Master: Name service for ROS (i.e. helps nodes find each other)

• rosout: ROS equivalent of stdout/stderr

• roscore: Master + rosout + parameter server (parameter server will be introduced later)

• 
  

$ rosrun turtlesim turtlesim_node __name:=my_turtle
$ rosnode list
$ rosnode info [topic]
$ rosnode ping turtlesim_node

4. understand Topic

rostopic echo shows the data published on a topic. rostopic echo [topic]

rostopic list returns a list of all topics currently subscribed to and published.

rostopic type returns the message type of any topic being published.    rosmsg show [msg_type]

rostopic pub publishes data on to a topic currently advertised.

rostopic pub [topic] [msg_type] [args]
$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'

rosrun rqt_graph rqt_graph

$ rosrun rqt_plot rqt_plot