ros

Filesystem Tools

1. rospack find xxx
2. roscd xxx
3. roscd log
4. rosls xxx

Creating a ros package

1. That package.xml file provides meta information about the package
2. Catkin metapackages must have a boilerplate CMakeLists.txt file

workspace_folder/        -- WORKSPACE
  src/                   -- SOURCE SPACE
    CMakeLists.txt       -- 'Toplevel' CMake file, provided by catkin
    package_1/
      CMakeLists.txt     -- CMakeLists.txt file for package_1
      package.xml        -- Package manifest for package_1
    ...
    package_n/
      CMakeLists.txt     -- CMakeLists.txt file for package_n
      package.xml        -- Package manifest for package_n

Creating a workspace for catkin

1. mkdir -p ~/catkin_ws/src

2. cd ~/catkin_ws/src

3. catkin_init_workspace

4. cd ~/catkin_ws/

5. catkin_make

Creating a catkin package

1. cd ~/catkin_ws/src

2. catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

package dependencies

1. rospack depends1 beginner_tutorials

2. rospack depends beginner_tutorials
   

These dependencies for a package are stored in the package.xml file, look at it.

Building package

1. catkin_make [make_targets] [-DCMAKE_VARIABLES=...]

ros node

A node really isn't much more than an executable file within a ROS package.

roscore is the first thing you should run when using ROS

1. roscore

2. rosnode list

3. rosnode info

4. rosrun [package_name] [node_name]

5. rosnode ping my_turtle

ros topics == message/events

1. rosrun turtlesim turtlesim_node

2. rosrun rqt_graph rqt_graph

3. rostopic -h

4. rostopic echo [topic]

5. rostopic list -h

6. rostopic list -v

7. rostopic type [topic]

8. rosmsg show geometry_msgs/Twist

9. rostopic type /turtle1/command_velocity

10. rosmsg show turtlesim/Velocity

11. rostopic pub [topic] [msg_type] [args]

12. rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity  -- 2.0  1.8

13. rostopic pub /turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0  -1.8

14. rostopic hz [topic]

15. rostopic hz /turtle1/pose

16. rostopic type /turtle1/command_velocity | rosmsg show

sql_plot

rqt_plot displays a scrolling time plot of the data published on topics

rosrun rqt_plot rqt_plot