第六弹 ROS命令行工具

1. 常用的命令

• rostopic
• rosservice
• rosnode
• rosprogram
• rosmsg
• rossrv

2.探索小海龟移动的秘密

2.1  运行小海龟

https://blog.csdn.net/qinqinxiansheng/article/details/106460180

建议手敲下面代码，不要直接复制

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

2.2  分析ROS原理

2.2.1  rqt_graph

rqt_graph：基于QT可视化，用来查看计算图。

 2.2.2 rosnode 与 rostopic

rosnode  按下回车会提示后面可以接哪些东西

rosnode ping	            # test connectivity to node
rosnode list	            # list active nodes
rosnode info	            # print information about node
rosnode machine	            # list nodes running on a particular machine or list machines
rosnode kill	            # kill a running node
rosnode cleanup	            # purge registration information of unreachable nodes


rostopic

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

 

 

用键盘控制海龟的移动

 发布指令停止键：            Ctrl  +  C

可以同时修改线速度和角速度。

 2.2.3 rosmsg

    rosmsg show	          Show message description
	rosmsg info	          Alias for rosmsg show
	rosmsg list	          List all messages
	rosmsg md5	          Display message md5sum
	rosmsg package	      List messages in a package
	rosmsg packages	      List packages that contain messages

2.2.4  rosservice 

rosservice
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

 

 

2.2.5 话题记录与复现

rosbag record -a -O cmd_record                 #话题的记录

 默认直接保存在终端所在的目录下：

 用数据包来复现刚刚录制的指令：

重启小乌龟，三个终端那个。再开启一个终端：

rosbag play cmd_record.bag          #复现保存的数据包