ROS 常用指令总结

１、创建工作空间并编译

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin_make

２、使工作空间在当前Shell中完全生效

$ source devel/setup.bash

3、寻找包路径

$ rospack find [包名称]

４、切换到制定包的路径下

$ roscd [本地包名称[/子目录]]

５、列出制定位置下的文件以及目录

$ rosls [locationname[/subdir]]

６、创建包

$ roscreate-pkg [package_name] [depend1] [depend2] [depend3]

$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

７、查看包依赖

$ rospack depends1 rospy

８、编译包

$ rosmake [package1] [package2] [package3]

９、列出当前运行的节点

$ rosnode list

１０、查看指定节点的信息

$ rosnode info [node name]

１１、运行一个包内的某个节点

$ rosrun [package_name] [node_name]

１２、查看节点图

$ rosrun rqt_graph rqt_graph

１３、查看对话题操作的相关指令

$ rostopic -h

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'

１４、查看话题列表相关指令

$ rostopic list -h

Usage: rostopic list [/namespace]

Options:
  -h, --help            show this help message and exit
  -b BAGFILE, --bag=BAGFILE
                        list topics in .bag file
  -v, --verbose         list full details about each topic
  -p                    list only publishers
  -s                    list only subscribers
  --host                group by host name

１５、查看话题所发布的消息类型

$ rostopic type [topic]

１６、查看消息详细情况

$ rosmsg show [message type]

１７、实时显示发布到某个话题上的数据变化图形

$ rosrun rqt_plot rqt_plot

１８、查看服务相关的指令

$ rosservice -h

Commands:
	rosservice args	print service arguments
	rosservice call	call the service with the provided args
	rosservice find	find services by service type
	rosservice info	print information about service
	rosservice list	list active services
	rosservice type	print service type
	rosservice uri	print service ROSRPC uri

Type rosservice <command> -h for more detailed usage, e.g. 'rosservice call -h'