ROS常用操作

录制

rosbag record /rslidar_points /zed/zed_node/left/image_rect_color

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播放

rosbag play xx.bag

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查看录制的bag信息

rosbag info xx.bag

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使用bag的gui播放

rqt_bag 2020-04-18-23-51-30.bag

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catkin_make -DCATKIN_WHITELIST_PACKAGES="pcl_test" # 编译单个功能包\

# 寻找.cmake文件
➜  ~ find ./* -iname "*.cmake" | grep "OpenCV"
➜  ~ find ./* -iname "*.cmake" | grep "PCL" 

# 查看frame_id
rostopic echo /rslidar_points | grep frame_id

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# 录制bag
rosbag record /rslidar_points /zed/zed_node/left/image_rect_color



# 查看dynamic reconfigure GUi界面
 rosrun rqt_reconfigure rqt_reconfigure

# pip升级
python -m pip install --upgrade pip

# 创建环境后安装ros包，以实现在conda环境中正常使用
pip install catkin_pkg pyyaml empy rospkg numpy